110 フレキシブルロボットアームの多目的形状設計

抄録

This paper deals with a shape design of a flexible robot arm. When operating a robot arm, saving energy is an important problem. Lightweighting of robot arm is one method for the energy saving. But lightweighting causes the decrease in the rigidity of the robot, and its work performance deteriorates by elastic vibration. These two items generally have a relation of trade-off. Therefore the lightweighting that consists of vibration suppression is required. To achieve this purpose, we think about multipurpose optimization considering the following evaluation items ; structural weight, tip displacement and total control input.