J1201-3-3 フレキシブルアームの最適形状設計(解析・設計の高度化・最適化III)

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This study deals with a shape design of a flexible robot arm. In order to obtain the good designs of flexible arm, we formulate a multi-objective optimization problem. One objective item is to lighten the structural weight of arm, and the other is the minimization of tip deflection. We derive the matrix equation of motion by means of the finite element method and Lagrangean approach. This dynamic equation is nonlinear, so it is difficult to decide the optimum control input. We utilize an approximation method in order to obtain a solution of a Hamilton-Jacobi equation based on the optimal control problem. The Galerkin approximation with Chebyshev polynomials is applied to the Hamilton-Jacobi equation. Particle Swarm Optimization is used as an optimization algorithm. As the result of the optimization, the common characteristics on obtained designs are tapering-off shape.
社団法人日本機械学会の論文
2009-09-12