Residual vibration control of a single-link flexible curved manipulator

Abstract

Residual vibrations occur after stopping the movement of flexible manipulators. Accuracy at the end-point positioning decreases if residual vibration amplitudes increase. Productivity decreases in the high speed applications since the settling time required for this residual vibration delays subsequent operations. In this study, the vibration control of single-link flexible manipulators with a payload is studied numerically and experimentally. The mathematical model of a planar manipulator is established by the finite element method (FEM). Then, the transient analysis is realized by the Newmark method. The FEM results are verified by the simulation results obtained ANSYS and experiment. Then, a curved manipulator is studied by ANSYS as the Newmark solution is not valid. Simulation results also are verified by experiments. Cases for different stopping positions and motion times are created using the trapezoidal and triangular velocity profiles. The time parameters of these motion profiles based on the first natural frequency of the manipulators are determined for the vibration control. The root mean square values calculated from the residual vibration signals, and reduction ratios are presented for the cases. It is observed from the results that the residual vibration amplitudes of the manipulators are successfully suppressed by selecting appropriate deceleration times.