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http://dx.doi.org/10.5050/KSNVE.2014.24.11.898

Straight-line Path Error Reduction for the End of a Flexible Beam Deploying from a Rotating Rigid Hub  

Kim, Byeongjin (Hanyang University)
Kim, Hyungrae (Hanyang University)
Chung, Jintai (Hanyang University)
Publication Information
Transactions of the Korean Society for Noise and Vibration Engineering / v.24, no.11, 2014 , pp. 898-906 More about this Journal
Abstract
This paper presents a reduction method for a straight-line path error of a flexible beam deploying from a rotating rigid hub. Previous studies discussed about only vibration phenomena of flexible beams deploying from rotating hubs; however, this study investigates a vibration reduction of a rotating beam with variable length. The equation of motion and associated boundary conditions are derived for a flexible beam deploying from a rotating rigid hub, and then they are transformed to a variational equation. By applying the Galerkin method, the discretized equations are obtained from the variational equation. Based on the discretized equations, the dynamic responses of a rotating/deploying beam are analyzed when the beam end has a straight line motion. A reduction method for the trajectory error is proposed, using the average length of a rotating/deploying beam. It is shown that the proposed method is able to reduce the residual vibration of a rotating/deploying beam.
Keywords
Flexible Robot Manipulator; Deploying Beam; Rotating Beam; Straight-line Path; Residual Vibration; Trajectory Error;
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Times Cited By KSCI : 1  (Citation Analysis)
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