On the percussion center of flexible links

Mikhail Mikhailovich Svinin, Makoto Kaneko, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A dynamic model of a flexible slewing beam in contact with the external environment is developed in this paper. The model is represented in the non-dimensional form. A definition of the percussion center of the flexible beam is introduced and its basic properties are established. It is shown that, contrary to the percussion center of rigid beam, for the flexible beam there exists infinite number of percussion centers, one for the first vibration mode, two for the second, three for the third and so on. It is also shown that the percussion centers can be considered as the points of maximal stiffness of the correspondent vibration modes. The results of our theoretical study may be interested not only for designing flexible tools but also for planning motion strategies for flexible manipulators interacting with the external environment.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages330-335
Number of pages6
DOIs
Publication statusPublished - Dec 1 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Svinin, M. M., Kaneko, M., & Yamamoto, M. (2011). On the percussion center of flexible links. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 330-335). [5980529] https://doi.org/10.1109/ICRA.2011.5980529