Abstract: This paper describes an appropriately shaped forcing function for moving a dynamic system over an incremental distance with minimum residual vibration. The function is constructed by combining ...

Abstract: A method is developed for predicting vibration-response characteristics of systems whose configuration changes during operation. A cartesian robot, an example of such a position-dependent system, ...

Abstract: Since all robots have some inherent flexibility, fast motions tend to excite system vibrations. This paper develops shaped inputs that generate fast motions with minimum residual vibration. Shaped ...

Abstract: A method is presented for generating shaped command inputs which significantly reduce or eliminate endpoint vibration. Desired system inputs are altered so that the system completes the requested ...

Abstract: The intent of this research is to study the dynamic behavior of a solid body resting on a moving surface. Results of the study are then used to propose methods for controlling the orientation ...

Abstract: This paper develops a mathematical model of the linearized vibrations of a four-bar linkage with a flexible rocker link and flexible input and output shafts. The model assumes constant input ...

Abstract: The choice of actuators and transmissions in high performance machines and manipulators can have a profound effect on the time required for a specified machine task. For systems operating with ...

Abstract: This paper presents the ideas underlying a computer program that takes as input a schematic of a mechanical or hydraulic power transmission system, plus specifications and a utility function, ...

Abstract: A mechanical design “compiler” has been developed which, given an appropriate schematic, specifications, and utility function for a mechanical design, returns catalog numbers for an optimal ...