変形と固有振動数を考慮したパラレルロボットの最適設計
On the optimal design of parallel robots taking into account their deformations and natural frequencies
パラレルロボットの設計最適化において、簡易剛性・振動モデルでは脚が長く変形しやすい機構になり得ることを示し、完全な剛性・振動モデルの必要性を例証した論文。
著者: Sébastien Briot, Anatoly Pashkevich, Damien Chablat
分類: cs.RO
原文アブストラクト
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified models are used to propose optimal design of robots. However, the elasticity of the drive system is often negligible in comparison with the elasticity of the elements, especially in applications where high dynamic performances are needed. Therefore, the use of such a simplified model may lead to the creation of robots with long legs, which will be submitted to large bending and twisting deformations. This paper presents an example of manipulator for which it is preferable to use a complete stiffness or vibration model to obtain the most suitable design and shows that the use of simplified models can lead to mechanisms with poorer rigidity.
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