抄録
It is essential to suppress vibrations of robots in the industrial area. Many researchers have been studied these problems from the control system design. In this paper, an example of optimum structural design for belt driving robot is proposed based on the simultaneous optimum design for control and structural system. First, the dynamic response of a robot arm is measured. A mathematical model with the consideration of the elastic characteristic of belt is constructed to simulate the motion of the arm. Finally, by using the structural modification model in which the mass distribution of the arm is changed, the optimum design is searched such as to minimize the objective function obtained from the residual vibration.
