A configuration and analysis for damping oscillations in flexible robotic arms using passive elements /
A hardware configuration that reduces excessive oscillation
| Main Author: | |
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| Format: | Thesis eBook |
| Language: | English |
| Published: |
[Place of publication not identified] :
[publisher not identified] ;
1996.
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| Subjects: | |
| Online Access: | Link to OAKTrust copy |
| Summary: | A hardware configuration that reduces excessive oscillation and damping ratio are presented and verified for similitude. and percentage of total beam length used for damping. approximation, expressions for the dominant natural frequency components. Equations of motion for the configuration are derived and simulated. Using a single degree of freedom effectively damp unwanted oscillations using passive experimental apparatus was constructed and proved to in flexible robotic arms is presented and analyzed. An length to width ratio, payload to manipulator weight ratio, of dynamic response are given. General design objectives for optimizing damping are obtained from parametric studies of response for certain configurations of similarly constructed robots. Conditions where the equations are poor predictors The two equations were found to be good predictors of dynamic |
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| Item Description: | "Major subject: Mechanical Engineering". Vita. |
| Physical Description: | ix, 77 leaves : illustrations ; 28 cm. Also available online. Issued also on microfiche from Lange Micrographics. |
| Bibliography: | Includes bibliographical references: pages 39-40. |