Phonon Mechanisms: A Know-Why for Vibration in Flexible-Link Robot Arms

Utilizing theory of the secondary quantization, a study of vibration behaviors in flexible-link robot arms is possible in microscopic viewpoints. This paper studies the relation of vibration related to phonon coupling interaction by means of Green?s function method beginning with energy model. Results confirm analytically the existence of the relationship between the macroscopic study employing a classical beam theory such as the Euler-Bounouli theory and the proposed microscopic method. The approach presented in this paper may be an alternative way to gain some insight into the real vibration and damping mechanism of flexible-link robot arms.