Motion Planning of Kinematically Redundant Adaptive Truss : Use of Redundancy for Vibration Reduction

抄録

The aim of the present study is to improve the dynamic behavior of an adaptive truss by considering the redundant kinematical degrees of freedom(DOFs). It is assumed that the truss follows the prescribed path in its workspace. The motion planning problem with respect to vibration is formulated in a discrete form with a criterion function based on the strain energy of the adaptive truss. It is also shown that the proposed approach is applicable to a real model of the adaptive truss which takes into account the nodal offset, as well as an ideal model which is based on the ideal truss node assumption. Simulation studies are carried out for both ideal and real models of the adaptive truss. The effectiveness of the proposed approach on the vibration reduction is demonstrated.