Vibration Control of an Elastic Manipulator Link

Ankarali, Arif; Diken, H.

doi:10.1006/jsvi.1996.0897

Cited by 34 publications

(15 citation statements)

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“…Ankarali and Diken (1997) solved the transient vibration problem of a single elastic link, which was modeled by using Euler-Bernoulli beam theory and mode summation techniques. They drove the link with a cycloidal motion to eliminate its residual vibrations.…”

Section: Introductionmentioning

confidence: 99%

Vibration control of a two-link flexible manipulator

Karagülle

Malgaca

Dirilmis

et al. 2015

Journal of Vibration and Control

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In this study, a two-link manipulator with flexible members is considered. The end point vibration signals are simulated by developing a MatLAB code based on the finite element theory and Newmark solution. Experimental results are also presented and compared with simulation results. The mass and stiffness matrices are time dependent because the angular positions of the links change during the motion. Trapezoidal velocity profiles for the actuating motors are used. The time dependent inertia forces are calculated by using the rigid body dynamics. The inertia forces are due to the motors, end point payload mass and distributed masses of the links. The acceleration, constant velocity and deceleration time intervals of the trapezoidal velocity profile are selected by considering the lowest natural frequency of the manipulator structure at the stopping position. Various starting and stopping positions are considered. The root mean square (RMS) acceleration values of the vibration signals after stopping are calculated. It is observed that the residual vibration is sensitive to the deceleration time. The RMS values are lowest if the inverse of the deceleration time equals to the first natural frequency. It is highest if the inverse of the deceleration time equals to the half of the first natural frequency. It is observed that simulation and experimental results are in good agreement.

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Section: Introductionmentioning

confidence: 99%

Vibration control of a two-link flexible manipulator

Karagülle

Malgaca

Dirilmis

et al. 2015

Journal of Vibration and Control

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“…Fung and Chung [14] obtained the governing differential equation of motion of a nonlinearly constrained flexible manipulator with tip mass using Hamilton' principle. Ankarali and Diken [15] and Wang and Guan [16] studied the transient response of a single-link elastic manipulator. In these studies the system is modelled as either a freely vibrating system or a linear parametrically excited system.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear response of a flexible Cartesian manipulator with payload and pulsating axial force

Pratiher

Dwivedy

2008

Nonlinear Dyn

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In this present work, the nonlinear response of a single-link flexible Cartesian manipulator with payload subjected to a pulsating axial load is determined. The nonlinear temporal equation of motion is derived using D'Alembert's principle and generalised Galerkin's method. Due to large transverse deflection of the manipulator, the equation of motion contains cubic geometric and inertial types of nonlinearities along with linear and nonlinear parametric and forced excitation terms. Method of normal forms is used to determine the approximate solution and to study the dynamic stability and bifurcations of the system. These results are found to be in good agreement with those obtained by numerically solving the temporal equation of motion. Influences of amplitude of the base excitation, mass ratio, and amplitude of static and dynamic axial load on the steady state responses of the system are investigated for three different resonance conditions. For some specific conditions, the results obtained in this work are found to be in good agreement with the previously published experimental work. The results obtained in this work will find applications in the design of flexible Cartesian manipulators with payload.

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“…Among many, references [6] to [12] are also worth mentioning as they describe a rotating exible beam. R esidual vibration spectra for a rotating exible beam are studied in reference [13]. In this study the cycloid rise function is used to excite the rotating beam vibration.…”

Section: Introductionmentioning

confidence: 99%

Residual vibration response spectra for a servomotor-driven flexible beam

Diken

Alghamdi

2003

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper residual vibration response spectra for a servomotor-d riven exible beam are discussed. The dynamic model consists of a exible beam, which is modelled as a Euler-Bernoulli beam. The beam is rotated by a servomotor. The rotational trajectory is assumed to be a triangular velocity (bang-bang) trajectory. The equations governing the vibration of the rotating exible beam are derived. For the solution, a summation of the orthogonal modes technique is used. Equations are solved numerically. Simulation results show that the maximum amplitude of the residual vibration changes with the change of the frequency ratio. H ere the frequency ratio is de ned as the rst natural frequency of the exible beam divided by the rotational frequency of the servomotor. When frequency ratios are even numbers like 2, 4, 6, etc., the maximum residual vibration amplitudes are minimized. When frequency ratios are odd numbers like 3, 5, 7, etc., then the maximum residual vibration amplitudes are maximized. The simulation results are also veri ed by experiment.

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Vibration Control of an Elastic Manipulator Link

Cited by 34 publications

References 0 publications

Vibration control of a two-link flexible manipulator

Vibration control of a two-link flexible manipulator

Nonlinear response of a flexible Cartesian manipulator with payload and pulsating axial force

Residual vibration response spectra for a servomotor-driven flexible beam

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