A Reduced Order Model Derivation for Lightweight Arms with A Parallel Mechanism
Author(s)
Tsujisawa, Takahiko
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Abstract
RALF (Robotic Arm, Large and Flexible) with a
parallel link mechanism has been developed at School
of Mechanical Engineering at Georgia Institute of
Technology. The structure consists of two ten foot long
links and an actuator link which is parallel to the first
link and drives the second link.
In this paper, a derivation of a reduced order
model for RALF by the modal cost analysis methods is
shown. The original models are based on the first 5
component modes of each link. Two sets of mode shapes
are considered which result from different boundary
conditions on the components (links).
The reduced order model which consists of the
first 2 modes of each link is optimal from the control
point of view. The evaluation of the reduced order
model is made by the comparison between the
frequency responses and the modal cost analysis
results.
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Date
1989-05
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Proceedings