Optimization of Mass and Rigidity Distributions for Flexible Manipulators

摘要

A new method for computing optimum mass and rigidity distributions for flexible manipulators with tip loads is presented. The design problem is formulated as minimum weight or maximum speed design with appropriate constraints. The optimum design is extended to manipulators handling multiple tip loads, as well as composite material links. Practical issues in link construction are addressed. The robustness of the optimum design is considered with respect to design specifications and constraints. Numerical results indicate that a significant increase in fundamental frequency or reduction in mass can be achieved by this method. Simulation and comparison of manipulator performances are conducted in terms of the dynamic response of tip deflection, hub rotation, and longitudinal strain (Due to the space limit, numerical results are omitted).