On the percussion center of flexible links

Mikhail Mikhailovich Svinin, Makoto Kaneko, Motoji Yamamoto

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Automation, ICRA 2011
ページ330-335
ページ数6
DOI
出版ステータス出版済み - 12 1 2011
イベント2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, 中国
継続期間: 5 9 20115 13 2011

その他

その他2011 IEEE International Conference on Robotics and Automation, ICRA 2011
国/地域中国
CityShanghai
Period5/9/115/13/11

All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 人工知能
  • 制御およびシステム工学
  • 電子工学および電気工学

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