Control of Flexible Robot by Harmonic Functions

Undesired vibration is a common issue when dealing with manufacturing machines, especially when dealing with thin structures. To decrease the external disturbance sensitivity of such systems, represented for example by machine tool quill, the auxiliary cable structure is attached to the system. The auxiliary cable structure increases system damping and decreases undesired structure vibrations by the passive or active way, depending on the deployment and purpose. In this article, cables are attached to the end-effector to suppress undesired vibrations and related experimental stand is prepared. Experimental stand parameters are identified using least square method. The control strategy using pole placement is presented and its suitability is verified using external disturbance force. The frequency analysis shows the promising behaviour of controlled cable structure attached to the original system as well as the experimental results.

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Active vibration damping for manufacturing machines using additional cable mechanisms: conceptual design

Neusser

Nečas

Pelikán

et al. 2022

Int J Adv Manuf Technol

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Mechatronic stiffness of cable-driven mechanisms: a study on production machine model

Neusser

Nečas

Pelikán

et al. 2022

Int J Adv Manuf Technol

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Position control of the mechanical structure with naturally limited stiffness is a common problem. Moreover, the system is usually exposed to random exciting by the external force effects and yet it is needed to hold the system in the desired position. Such an example in engineering practice can be the machine tool quill slim structure, which determines the machining accuracy and the machined surface quality. The limited structure stiffness can be overcome by suitable support structure solution. In principle, it is a matter of introducing the necessary force effect in the place where it is necessary to ensure the required position. A promising means how to apply control force to the flexible structure tip can be a thin cable structure with the force actuation and proper force control. The resulting system is characterized by increased stiffness achieved in a mechatronic manner. Therefore, the introduced concept is called mechatronic stiffness. The article describes selected mechanical arrangement of the mechatronic stiffness concept, its features, behaviour and control results. The proposed approach offers a solution for precise position control of the flexible structure. An experimental device was created in parallel with the simulation experiment and preliminary simulation results are obtained. The described concept is transferable to other flexible structures such as various manipulators.

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Verification of analytical antiderivatives forms using correlation analysis for mechanical problems

Алпатов¹,

Kravets²,

Kravets³

et al. 2022

Teh. Meh.

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An analytical search for antiderivative functions (indefinite integrals) is widely used in the mathematical simulation of various engineering, economic, ecological, biological, social, and other processes. In their turn, mechanical problems have many subproblems whose solution involves analytical integration methods. Among these problems is the problem of development of analytical models for navigation and ballistics support and control theory models in space rocket engineering. The advantage of this approach to mathematical simulation is a fast analysis of the state of dynamic systems on different time intervals without calculating all previous states. In their turn, for some classes of functions, antiderivatives may be found in several different ways, as a result of which there exist several different forms of antiderivatives that are hard to verify by the classical method in standard form. This is mainly due to the choice of various combinations of integration methods used in the development of analytical models, in particular in problems of applied mechanics. Taking into consideration these difficulties in the verification of the set of antiderivative functions, this paper proposes a method to check their analytical forms for correspondence with the use of correlation analysis. In doing so, the arrays of the values of each antiderivative form at certain nodal points are represented as a set of random variables. With this in mind, it is suggested that the verification process be conducted with the use of the standard approach based on correlation analysis (using Pearson’s correlation coefficient). The efficiency of the method is shown by the example of verifying the antiderivatives of the reciprocal of a squared quadratic trinomial. This approach will make it possible to check the adequacy of the i-th candidate antiderivative and to adapt the problem to the standard form.

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Control of Flexible Robot by Harmonic Functions

Cited by 4 publications

References 37 publications

Active vibration damping for manufacturing machines using additional cable mechanisms: conceptual design

Active vibration damping for manufacturing machines using additional cable mechanisms: conceptual design

Mechatronic stiffness of cable-driven mechanisms: a study on production machine model

Verification of analytical antiderivatives forms using correlation analysis for mechanical problems

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