Hybrid Control Method for a Flexible Manipulator

Hou, Runmin; Hu, Da Bin; Gao, Qiang; Mingming, Lv

doi:10.1088/1757-899x/392/6/062170

Cited by 1 publication

(1 citation statement)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The distributed flexibility and behavior of the system, the dynamics are very complex. The issue is arrised to precise positioning requirement, vibration due to system flexibility [3][4]. By selecting suitable material for manipulator and adding appropriate control techniques the effect of shivering amplitude of vibration and system settling time can be reduced.…”

Section: Introductionmentioning

confidence: 99%

Composite Material Robot Manipulator with Joint Flexibility- Mode and Mode Shape Simulation

S*,

Mohideen S,

P S

2019

IJRTE

View full text Add to dashboard Cite

Simulation of composite material robot manipulator with joint flexibility is initiated. The lightweight three types of composite material manipulator links with different joint stiffness are considered for vibration mode and mode shape simulation. The model and its motion equations are obtained by using assumed mode method incorporating and joint flexibility. The structural flexibility of a composite material also included in the analyses. The purpose of simulation to predict the behavior of composite material links, which is inevitable for replacement of bulky manipulators. To reach a set point of flexible link manipulator in a work volume with vibration accuracy is analyzed. The thin flexible link for precise positioning will face transient vibration problems. The flexible deflection and residual vibration are affect the positioning of end point. The source of vibration of a manipulator is due to light structural weight when it is rotated by the actuator. The lightweight link will move faster, but the unwanted vibration in the link is raised. To reduce this vibration issue, without compromising the light weight material, the simulation is carried out. areattached to the rigid body frame. Due smaller angular rotation θ (t) of pinned free manipulator, the flexible deflection u (x, t) and total displacement of a link is calculated as y(x,t)=u(x,t)+xθ(t) .

show abstract

Section: Introductionmentioning

confidence: 99%