Dynamic analysis of a composite-material flexible robot arm

Ghazavi, A.; Gordaninejad, Faramarz; Chalhoub, Nabil G.

doi:10.1016/0045-7949(93)90111-p

Cited by 19 publications

(11 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The second one uses additional damping materials to dissipate the vibration energy [3]. The third advocates that the mechanism links should be built of advanced composite materials because of their high damping and high sti!ness-to-weight ratio [4]. These three design concepts may be referred to as passive vibration control.…”

Section: Introductionmentioning

confidence: 99%

Complex Mode Active Vibration Control of High-Speed Flexible Linkage Mechanisms

Shao

Zhang

Shen

2000

Journal of Sound and Vibration

View full text Add to dashboard Cite

Section: Introductionmentioning

confidence: 99%

Complex Mode Active Vibration Control of High-Speed Flexible Linkage Mechanisms

Shao

Zhang

Shen

2000

Journal of Sound and Vibration

View full text Add to dashboard Cite

“…Some traditional methods have been used to control vibration, like enhancing the stiffness of links and joints, optimizing shape and dimensions [1,2], and utilizing composite materials [3,4]. In recent years, a number of active control methods are put forward, most of them employ such smart material actuators as the piezoelectric ceramic and shape memory alloy, and remarkable progress has been made [5,6].…”

Section: Introductionmentioning

confidence: 99%

A Vibration Control Method for the Flexible Arm Based on Energy Migration

Bian

Gao

Fan³

2015

Shock and Vibration

View full text Add to dashboard Cite

A vibration control method based on energy migration is proposed to decrease vibration response of the flexible arm undergoing rigid motion. A type of vibration absorber is suggested and gives rise to the inertial coupling between the modes of the flexible arm and the absorber. By analyzing 1 : 2 internal resonance, it is proved that the internal resonance can be successfully created and the exchange of vibration energy is existent. Due to the inertial coupling, the damping enhancement effect is revealed. Via the inertial coupling, vibration energy of the flexible arm can be dissipated by not only the damping of the vibration absorber but also its own enhanced damping, thereby effectively decreasing vibration. Through numerical simulations and analyses, it is proven that this method is feasible in controlling nonlinear vibration of the flexible arm undergoing rigid motion.

show abstract

“…A variety of techniques, including optimization of linkage cross-section [1], utilization of high-performance composite materials [2], smart structure techniques [3], and passive damping materials [4], have been proposed to reduce the linkage vibrations.…”

Section: Introductionmentioning

confidence: 99%

Experimental Identification and Active Control of Configuration Dependent Linkage Vibration in a Planar Parallel Robot

Wang

Mills

Guo

2009

IEEE Trans. Contr. Syst. Technol.

View full text Add to dashboard Cite

In a lightweight planar parallel robot, unwanted linkage vibrations are induced during high-speed motion. The transfer functions from motor inputs to linkage vibrations are dependent on the robot configuration. In this work, we experimentally identify linkage vibrations by performing experimental modal analysis using lead zirconate titanate transducers. Then, the contributions of linkage modes are separated from configuration-dependent transfer functions. Through redefinition of vibration inputs, the flexible linkage dynamics is approximated by a linear dynamic model with variations of natural frequencies. Based on this simplification, a modal controller is designed to control two linkage modes. Experimental control results, yielding more than 50% reduction of vibration amplitudes of these two modes, validate the effectiveness of the proposed control strategy.Index Terms-Active vibration control, experimental modal analysis (EMA), parallel robot, smart structures.

show abstract

Dynamic analysis of a composite-material flexible robot arm

Cited by 19 publications

References 20 publications

Complex Mode Active Vibration Control of High-Speed Flexible Linkage Mechanisms

Complex Mode Active Vibration Control of High-Speed Flexible Linkage Mechanisms

A Vibration Control Method for the Flexible Arm Based on Energy Migration

Experimental Identification and Active Control of Configuration Dependent Linkage Vibration in a Planar Parallel Robot

Contact Info

Product

Resources

About