Vibration attenuation of a two-link flexible arm carried by a translational stage

Wu, Shang–Teh; Tang, Shan-Qun; Huang, Kuan–Po

doi:10.1177/1077546318763437

Cited by 11 publications

(7 citation statements)

References 24 publications

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“…(27 & 30) can be expressed as: parameters. Following a similar procedure as adopted in Kumar and Pratiher [11], we obtain the governing equations for the vibration for both the links in terms of original time variable τ as:…”

Section: 3: Nonlinear Analysis: Problem Formulationmentioning

confidence: 99%

“…The reported studies have been divided into two categories based on the type of joints used to drive the manipulator i.e. revolute [1][2][3][4][5] and prismatic joints [6][7][8][9][10][11]. On many occasions, beam element is often used to model the flexible link and integrating it with rotating hub makes a robotic manipulator with revolute joint [12].…”

Section: Introductionmentioning

confidence: 99%

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Tip Trajectory Characteristics and Nonlinear Stability Analysis of Robotic Manipulator With Flexible Links-joints

Kumar¹,

Pratiher²

2021

Preprint

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An efficient and new dynamic model of two-link flexible manipulator connected and controlled by flexible joints i.e., prismatic and revolute pairs has been developed to explore the modal analysis to study tip-trajectory characteristics and subsequently investigate the nonlinear steady-state responses under harmonic motion at flexible joints. The governing equations including joint dynamics have been derived using extended Hamilton’s principle. Modal parameters have been graphically presented to highlight the influences of various system parameters on the determination of eigenfrequencies and eigenspectrums. Obtained reduced order equations have then used to study the trajectory characteristics of tip displacements, angular and actuator positions by imparting the appropriate actuator force and joint torque. Further, nonlinear studies have been carried out to compute the steady state responses and their stability and local bifurcation by using 2nd order method of multiple scales. Investigation of the influences of various design parameters on the nonlinear stability and local bifurcation of steady state responses have been demonstrated and those results have been found to be in good agreement with numerically obtained findings. The obtained results find very useful in the applications of long-reach robot manipulators performing complex operations assigning with translating and rotary motion together.

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Section: 3: Nonlinear Analysis: Problem Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Tip Trajectory Characteristics and Nonlinear Stability Analysis of Robotic Manipulator With Flexible Links-joints

Kumar¹,

Pratiher²

2021

Preprint

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“…[4][5][6] Within the scope of active vibration control, this paper contributes to the important nonlinear problem of tracking control alongside vibration attenuation of a mobile-base multivariable flexible structure considering limited actuator power. In existing literature, many studies are devoted to vibration suppression generally using piezoelectric pads [7][8][9] or other actuator types 10 and some are supporting the problem of reference tracking. [11][12][13] A few studies are conducted to address both issues, 14,15 the objective which is similarly followed in this study.…”

Section: Introductionmentioning

confidence: 99%

Tracking control of moving flexible system by incorporation of feedback-based vibrational energy sink in model predictive control algorithm

Homaeinezhad

FotoohiNia

2022

Proceedings of the Institution of Mechanical Engineers, Part K:

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This paper proposes a new approach towards the nonlinear problem of tracking control for mobile multivariable vibrational structure featuring an Euler-Bernoulli vibrational beam. The control scheme involves obtaining interactions between flexural and rigid motions of the multivariable continuum mechanics system with actuator force limitation both regarding domain and frequency bandwidth. To this end, the boundary control inputs are selected prioritizing two tasks, satisfying actuator limitations and obtaining minimum possible tracking error. The former is employed as hard constraint in model predictive control (MPC) scheme while the latter is considered as soft constraint. The control scheme is adjusted such that when actuator limits are exceeded, the soft constraints are relaxed to maintain stability. In order to provide smooth tracking, Euler-Bernoulli transverse vibration is attenuated by incorporating Feedback Vibrational Energy Sink (FVES) method in obtaining control law. Hence, actuators are manipulated such that total vibrational energy of flexible beam is damped without using passive or conventional active dampers. The accuracy of the proposed method has been verified via FEA-based simulations.

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“…Various feedback control and open-loop control methods have been used in vibration suppression of flexible-link manipulators. The feedback control technique measures the payload motion to reduce the vibration in a closed loop (Cao and Liu, 2019;Fareh et al, 2020;Han and Jia, 2020;He et al, 2020;Huang et al, 2019;Jiang et al, 2018;Li and Liu, 2020;Njeri et al, 2019;Pradhan and Subudhi, 2020;Qiu et al, 2019;Rahmani and Belkheiri, 2019;Wu et al, 2018;Yabuno and Kobayashi, 2020;Zhao and Ahn, 2020).…”

Section: Introductionmentioning

confidence: 99%

Vibration control of coupled Duffing oscillators in flexible single-link manipulators

Huang

2020

Journal of Vibration and Control

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Motion-induced oscillations of the flexible single link and its payload at the tip have negative impact on the anticipated performance of the flexible manipulators and thus should be suppressed to achieve tip positioning accuracy and high-speed operation. Because of the structural flexibility, the dynamics of the flexible manipulator can be described by coupled Duffing oscillators when considering the inherent structural nonlinearity of the flexible link into the dynamic modeling. However, little research has been focused on addressing the dynamic coupling issue in the nonlinear modeling of flexible-link manipulators using coupled Duffing oscillators. This article presents coupled Duffing oscillators for the nonlinear modeling of flexible single-link manipulators and then proposes a control method for suppressing the nonlinear vibrations of the coupled Duffing oscillators. Simulated and experimental results obtained from a flexible single-link manipulator test bench are in good agreement with the proposed nonlinear modeling and also demonstrate the effectiveness of the proposed control techniques for vibration suppression of the flexible manipulator.

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Vibration attenuation of a two-link flexible arm carried by a translational stage

Cited by 11 publications

References 24 publications

Tip Trajectory Characteristics and Nonlinear Stability Analysis of Robotic Manipulator With Flexible Links-joints

Tip Trajectory Characteristics and Nonlinear Stability Analysis of Robotic Manipulator With Flexible Links-joints

Tracking control of moving flexible system by incorporation of feedback-based vibrational energy sink in model predictive control algorithm

Vibration control of coupled Duffing oscillators in flexible single-link manipulators

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