This research is aimed to design and analyze the performance of double dynamic vibration absorber (DVA) using a pendulum and a spring-mass type absorber for reducing vibration of two-DOF vibration system. The conventional fixed-points method and genetics algorithm (GA) optimization procedure are utilized in designing the optimal parameter of DVA. The frequency and damping ratio are optimized to determine the optimal absorber parameters. The simulation results show that GA optimization procedure is more effective in designing the double DVA in comparison to the fixed-points method. The experimental study is conducted to verify the numerical result.
This paper presented a parallel robotic manipulator having combined DOF, i.e., one translational and two rotational DOF, called PRoM-120. PRoM-120 is constructed by using 2PRU/PRS kinematic chains (KCs) and arranged in an asymmetric configuration. The objective of the research is to determine the workspace and to evaluate the performance of PRoM-120 for three cases based on the numerical values of its kinematic constants. The workspace is calculated by applying the discretization method. The inverse kinematic solution, direct singularity, inverse singularity, and actuators limit are taken as the significant factor to determine the workspace. Meanwhile, the performance of PRoM-120 is evaluated by applying conditioning index and transmission based index. It shows the conditioning index cannot be used for PRoM-120, or parallel manipulator having combined DOF. Assessing the performance of PRoM-120 using transmission based index exposes only less than 20% of the workspace be in the good transmission workspace.
Penentuan jawab kinematika langsung manipulator paralel merupakan hal yang menarik untuk dikaji karena kompleksitas matematisnya. Artikel ini menyajikan penyelesaian eksak permasalahan kinematika langsung manipulator paralel bidang 3-RRR melalui pemanfaatan perangkat lunak aljabar komputer dengan kode terbuka: SymPy. Prosedur penyelesaian secara simbolik diimplementasikan ke dalam sebuah fungsi python melalui penggunaan pustaka SymPy secara ekstensif. Melalui fungsi ini akan dikalkulasi jawab kinematika langsung manipulator secara numerik untuk nilai konstanta kinematik dan besar sudut input pada sambungan aktif. Hasil pengujian untuk suatu dimensi konstanta kinematika manipulator ini menunjukkan bahwa terdapat dua akar-akar ril penyelesaian kinematika langsungya. Dua akar ril ini mengindikasikan bahwa manipulator memiliki dua modus rakitan kinematika langsung yang berbeda dengan modus rakitan untuk jawab kinematika invers.
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