Shape Optimization of Flexible Robotic Manipulators-Reference-Cited by-同舟云学术

Shape Optimization of Flexible Robotic Manipulators

Published:2005-08-12 Issue:3 Volume:128 Page:559-565
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Dixit U. S.¹,Kumar R.¹,Dwivedy S. K.¹

Affiliation:

1. Mechanical Engineering Department, Indian Institute of Technology, Guwahati, 781039, India

Abstract

In this work, the problem of shape optimization of flexible robotic manipulators of circular cross sections is studied. Two different manipulators are considered—a manipulator with revolute joint and a roller supported Cartesian manipulator. The finite element method is used to find the natural frequency and dynamic response of a flexible manipulator by treating it as an Euler-Bernoulli beam. The cross-sectional diameter is varied along the length keeping the constraint on the mass of the manipulator and static tip deflection in order to maximize the fundamental frequency of the beam. This optimization problem is compared with other optimization problems (with different objective functions and constraints). It is observed that the proposed optimization problem is superior to other optimization problems.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/128/3/559/5805213/559_1.pdf

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