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論文
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小島, 宏行
概要:
application/pdf<br />Journal Article<br />In this paper, first, a finite element formulation method for a horizontal fle
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xible robot arm with two links is presented. In the analysis, the kinetic energy of the flexible arm is represented in brief compared with the previous method, and the matrix equation of motion in consideration of the nonlinear forces, such as the Coriolis force, is derived by the finite element method and the variational theorem. Then, the state equation of the mechatoronics system consisting of the flexible arm and the position control system is obtained. Second, the numerical simulations in the case of applying the path control based on the trapezoidal velocity curve are carried out by use of the Wilson-θ method, and the effects of the bending rigidity and the shape of the trapezoidal velocity curve on the dynamic characteristics of the mechatoronics system are demonstrated.
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小島, 宏行 ; 森平, 明宏 ; 根津, 紀久雄 ; 坂本, 賢治
概要:
application/pdf<br />Journal Article<br />In this report, the nonlinear forced vibration responses of a plate subjected to alternating electromagnetic attractive force are investigated theoretically and experimentally in
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consideration of the superharmonic and the subharmonic vibrations as well as the harmonic one. In the analysis, first, the electromagnetic attractive force is formulated by applying the least squares method to the experimental results. By the use of this formulation, the matrix equation of motion of the plate is obtained by applying the finite element method. Then, the nonlinear simultaneous equations, which decide the superharmonic and the subharmonic vibrations as well as the harmonic one, are derived by the harmonic balance method and the reduced impedence method. The numerical results carried out by the Newton-Raphson method agree well with the experimental results, and the validity of the present analysis is confirmed.
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| 3.
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論文
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小島, 宏行
概要:
application/pdf<br />Journal Article<br />When an alternating electromagnetic force is applied to the mechanical vibration system, nonlinear forced vibrations such as superharmonic and subharmonic vibrations are generated owing to the
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nonlinearity of the electromagnetic force. In this report, the analytical method by the finite element method and the harmonic balance method is presented to investigate the nonlinear vibrations of a beam subjected to the alternating electromagnetic force. In the analysis, the equations of motion of the beam are obtained by the finite element method, and the nonlinear matrix equations which decide the force vibration amplitudes are derived in consideration of the second order superharmonic and the one-second order subharmonic by applying the harmonic balance method. Then, the nonlinear matrix equations are reduced, and three simultaneous equations are derived. Furthermore, the numerical results by use of the Newton-Rapson method agree well with the previous numerical results, and the present analytical method is confirmed.
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論文
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小島, 宏行 ; 根津, 紀久雄 ; 黒沢, 勝彦
概要:
application/pdf<br />Journal Article<br />Dynamic characteristics of a beam structure with an active electromagnetic damper are investigated by the use of the finite element method and the Laplace transformation. A shock pulse is
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applied to a beam subjected to a camping force by the active electromagnetic damper. In the analysis, first, the governing matrix equations of the coupling system consisting of the beam and the active electromagnetic damper are obtained by the use of the finite element method. Then, the governing matrix equations are transformed into the complex domain by the Laplace transformation method, and the transient vibration responses of the coupling system are derived directly by the application of the residue theorem. Furthermore, numerical calculations are carried out for an exponentially decaying pulse and a half sinus one, and the numerical results agree well with the previous experimental ones.
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