Abstract
This study investigated the dynamics and vibration reduction for axially-extending cantilever beams subjected to gravity. Command shaping on the extension velocity was used to reduce the vertical vibration of the extending beams. Because conventional command shapers have limited effectiveness due to the time-varying properties of the system, this study presented an optimization procedure on the damping and frequency for designing the command shaper. Simulations were performed to analyze the vibration problem and to characterize the performance of the optimized command shaper. Experiments were also performed to validate the proposed, optimal command shaper.
Highlights
Mechanisms that have extending/retracting cantilever beams, such as telescopic arms, are very useful in manufacturing processes (Zhang and Yang, 2016; Yuan et al, 2014)
This study presents a command shaping method to suppress vertical vibration caused by time-varying characteristics in horizontally-extending beams
The mass shapers to cope with the time-varying nature of axially and stiffness can be obtained as follows
Summary
Mechanisms that have extending/retracting cantilever beams, such as telescopic arms, are very useful in manufacturing processes (Zhang and Yang, 2016; Yuan et al, 2014). This study presents a command shaping method to suppress vertical vibration caused by time-varying characteristics in horizontally-extending beams. The mass shapers to cope with the time-varying nature of axially and stiffness can be obtained as follows
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