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Research Papers

Minimum Vibration Mechanism Design Via Convex Programming

[+] Author and Article Information
Bokman Lim

Mechanical and Aerospace Engineering, Seoul National University, Seoul 151-742, Koreabokman2@robotics.snu.ac.kr

Frank C. Park1

Mechanical and Aerospace Engineering, Seoul National University, Seoul 151-742, Koreafcp@snu.ac.kr

1

Corresponding author.

J. Mech. Des 131(1), 011009 (Dec 15, 2008) (9 pages) doi:10.1115/1.3013846 History: Received August 21, 2007; Revised September 24, 2008; Published December 15, 2008

One means of designing reduced vibration mechanisms is to ensure that the mechanism’s natural frequency be sufficiently greater than the driving frequencies of the actuators. In this paper we consider the problem of determining a mechanism’s mass, inertial, and joint stiffness parameters so as to maximize the lowest natural frequency of the mechanism. We show that this leads to a convex programming problem, which is characterized by a global optima that can be found with efficient interior point algorithms. Several case studies involving open and closed chain mechanisms demonstrate the viability of the design methodology.

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Copyright © 2009 by American Society of Mechanical Engineers
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References

Figures

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Figure 6

Schematic of the Tricept mechanism

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Figure 7

Tricept shown in various sample configurations

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Figure 1

Sample configurations for the 5R planar open chain

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Figure 2

Sample configurations for the six-bar closed chain linkage

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Figure 3

Operation region for the six-bar linkage optimization

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Figure 4

Prescribed trajectory for the six-bar linkage optimization

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Figure 5

Changes in the optimal mass parameters with varying configurations

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