http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
configuration and analysis for damping oscillations in flexible robotic arms using passive elements
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
"Major subject: Mechanical Engineering".
Issued also on microfiche from Lange Micrographics.
Includes bibliographical references: pages 39-40.