Minimum Vibration Mechanism Design Via Convex Programming

Author:

Lim Bokman1,Park Frank C.1

Affiliation:

1. Mechanical and Aerospace Engineering, Seoul National University, Seoul 151-742, Korea

Abstract

One means of designing reduced vibration mechanisms is to ensure that the mechanism’s natural frequency be sufficiently greater than the driving frequencies of the actuators. In this paper we consider the problem of determining a mechanism’s mass, inertial, and joint stiffness parameters so as to maximize the lowest natural frequency of the mechanism. We show that this leads to a convex programming problem, which is characterized by a global optima that can be found with efficient interior point algorithms. Several case studies involving open and closed chain mechanisms demonstrate the viability of the design methodology.

Publisher

ASME International

Subject

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

Reference24 articles.

1. Force Oscillations in Contact Motion of Industrial Robots: An Experimental Investigation;Ferretti;IEEE/ASME Trans. Mechatron.

2. Torque Ripple Analysis in Brushless Permanent Magnet Motor Drives;Hanselman

3. Design of Learning Input Shaping Technique for Residual Vibration Suppression in an Industrial Robot;Park;IEEE/ASME Trans. Mechatron.

4. Symbolic Computation of the Inverse Dynamics of Elastic Joint Robots;Hopler

5. The Effects of the Manipulator Type on the Vibrational Excitation During Motion;Tu;Mech. Mach. Theory

Cited by 4 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. A novel static model of planetary roller screw mechanisms based on an energy method;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2024-09-03

2. Stiffness analysis of multibody systems using matrix structural analysis—MSA;Robotica;2015-02-10

3. Parametric damped vibrations of Gough–Stewart platforms for symmetric configurations;Mechanism and Machine Theory;2014-10

4. Bandwidth Maximizing Design for Hydraulically Actuated Excavators;Journal of Vibration and Control;2010-04-19

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3