A Dynamic Model on a Single-Link Flexible Manipulator

1990 ◽  
Vol 112 (1) ◽  
pp. 138-143 ◽  
Author(s):  
Liang-Wey Chang ◽  
K. P. Gannon
Keyword(s):  
Experimental Validation ◽  
Shape Function ◽  
Equations Of Motion ◽  
Flexible Manipulator ◽  
Natural Mode ◽  
Lagrangian Dynamics ◽  
The Finite Element Method ◽  
Single Link ◽  
Robust Motion Control ◽  
Nodal Displacements

An enhanced Equivalent Rigid Link System (ERLS) model using natural-mode shape function for flexible manipulators is developed. An experimental validation of the model is performed on a single-link manipulator. The Lagrangian dynamics and the Finite Element Method are used to derive the equations of motion. Joint variables and nodal displacements are chosen being generalized coordinates. The model well describes the dynamic behavior of manipulator systems and allows for applications to design a robust motion control.

A Finite Element Approach for Single-Link Flexible Manipulator

2013 ◽  
Vol 347-350 ◽  
pp. 453-456
Author(s):  
Jing Yuan Shi ◽  
Kai Jun Ji ◽  
Yan Kun Tang ◽  
Kun Yang
Keyword(s):  
Finite Element ◽  
Equations Of Motion ◽  
Energy Approach ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Finite Element Approach ◽  
Single Link ◽  
Element Approach

Many researchers have studied the dynamics of the single-link flexible manipulator. A finite element approach is used in this study to describe the dynamics of the flexible link. The displacement of any point on the link is described in terms of modal displacements. Energy approach is used to formulate the equations of motion.

scholarly journals Experimental Validation of Hybrid Polymer Composite Material Robotic Single Link Flexible Manipulator

2020 ◽  
Vol 9 (3) ◽  
pp. 488-494
Keyword(s):  
Composite Material ◽  
Hybrid Composite ◽  
Experimental Validation ◽  
Equations Of Motion ◽  
Polymer Composite Material ◽  
Flexible Manipulator ◽  
Control Analysis ◽  
Flexible Link ◽  
Amplitude Control ◽  
Hybrid Composite Material

The prime aim of this research is to conduct an experimental validation for the assessment of behaviour of a hybrid composite material. The hybrid lightweight composite material is used as a robotic link for replacement of rigid and giant manipulators. The combination of fibre material methodically processed and technically merged with epoxy, resulting in hybrid composite material which is used as robotic link movement application and experimentally validated with respect to its functional behavior and cost-effectiveness. In this experimental investigation, composite material is taken as a flexible link for vibration amplitude control analysis and flexible deflection determination using modern control system with various joint stiffness coefficient. The numerical evaluations are conducted for lightweight composite material as an alternate of rigid and solid link. The modelling of composite flexible link is carried out for precision and accuracy on the basis of Lagrange’s equations of motion. The vibration investigation of the system is carried out and reduction of vibration is evaluated using model-based controller in the experiment.

Combined Discrete-Distributed Control of a Single-Link Flexible Manipulator Using a Lyapunov Approach

1999 ◽  
Vol 121 (3) ◽  
pp. 448-456 ◽  
Author(s):  
Min Gu ◽  
Samuel F. Asokanthan
Keyword(s):  
Hybrid Control ◽  
Control Strategies ◽  
Direct Method ◽  
Equations Of Motion ◽  
Design Procedure ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Single Link ◽  
And Performance ◽  
Good Agreement

This paper presents a development of hybrid control strategies for a single-link flexible manipulator. The control system consists of two actuators; a DC servo motor at the joint and a distributed piezoelectric film actuator bonded to the surfaces of the flexible link. Equations of motion considering two control inputs were developed using the generalized Hamilton’s principle. A feedback control law has been developed based on Lyapunov’s direct method and global stability of closed-loop system is guaranteed. A loop-closure technique was introduced to simplify the design procedure for choosing the feedback gains. Simulation and the experimental results were found to be in good agreement and performance improvement obtained using the hybrid control strategy has been demonstrated.

scholarly journals DYNAMIC MODELING OF A SINGLE-LINK FLEXIBLE MANIPULATOR ROBOT WITH TRANSLATIONAL AND ROTATIONAL MOTIONS

2020 ◽  
Vol 21 (1) ◽  
pp. 228-239
Author(s):  
Dermawan Dermawan ◽  
Hammada Abbas ◽  
Rafiuddin Syam ◽  
Zulkifli Djafar ◽  
Abdul Kadir Muhammad
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Free Vibration ◽  
Dynamic Behavior ◽  
Translational Motion ◽  
Flexible Manipulator ◽  
The Finite Element Method ◽  
Single Link ◽  
Rotational Motions ◽  
Element Method

The flexible manipulator is widely used in space robots, robot arm, and manufacturing industries that produce micro-scale products. This study aims to formulate the equation of motion of a flexible single-link manipulator system that moves translationally and rotationally and to develop computational codes with finite element methods in performing dynamic simulation on the vibration of the flexible manipulator system. The system of the single-link flexible manipulator (SLFM) consists of the aluminum beam as a flexible link, clamp part to hold the link, DC motor to rotate drive shaft, a trajectory to transfer link in translational motion, and servo motor to rotate link. Computational codes in time history response (THR) and Fast Fourier Transform (FFT) processing were developed to identify the dynamic behavior of the link. The finite element-method and Newmark-beta are used in simulating the SLFM. Simulation using the finite element method has displayed dynamic behavior through a graph of FFT on free vibration and THR graph on forced vibration by the excitation force due to the translational and rotational motions of the system. In the simulation of free vibration, the natural frequency of the system is 8.3 [Hz].

scholarly journals On Equations of Motion of Elastic Linkages by FEM

2013 ◽  
Vol 2013 ◽  
pp. 1-10
Author(s):  
Michał Hać
Keyword(s):  
Rigid Body ◽  
Shape Function ◽  
Equations Of Motion ◽  
Vibrational Analysis ◽  
Open Loop ◽  
Rigid Body Motion ◽  
Body Motion ◽  
The Finite Element Method ◽  
Shape Functions ◽  
Flexible Mechanisms

Discussion on equations of motion of planar flexible mechanisms is presented in this paper. The finite element method (FEM) is used for obtaining vibrational analysis of links. In derivation of dynamic equations it is commonly assumed that the shape function of elastic motion can represent rigid-body motion. In this paper, in contrast to this assumption, a model of the shape function specifically dedicated to the rigid-body motion is presented, and its influence on elastic motion is included in equations of motion; the inertia matrix related to the rigid-body acceleration vector depends on both shape functions of the elastic and rigid elements. The numerical calculations are conducted in order to determine the influence of the assumed shape function for rigid-body motion on the vibration of links in the case of closed-loop and open-loop mechanisms. The results of numerical simulation show that for transient analysis and for some specific conditions (e.g., starting range, open-loop mechanisms) the influence of assumed shape functions on vibration response can be quite significant.

Vibration Control of a Flexible Link Manipulator Using an Array of Fiber-Optic Curvature Sensors and Piezoelectric Actuators

2007 ◽  
Author(s):  
Kerem Gurses ◽  
Bradley J. Buckman ◽  
Edward J. Park
Keyword(s):  
Motion Control ◽  
Sensor Array ◽  
Fiber Optic ◽  
Element Model ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Velocity Feedback ◽  
Lyapunov Approach ◽  
Single Link ◽  
Actuator Control

This paper presents a novel feedback sensing approach for actively suppressing vibrations of a single-link flexible manipulator. Slewing of the flexible link by a rotating hub induces vibrations in the link that persist long after the hub stops rotating. These vibrations are suppressed through a combined scheme of PD-based hub motion control and proposed piezoelectric (PZT) actuator control, which is a composite linear and velocity feedback controller. Lyapunov approach was used to synthesize the controller based on a finite element model of the system. Its realization was possible due to the availability of both linear and angular velocity feedback provided by a unique, commercially-available fiber optic curvature sensor array, called ShapeTape™. It is comprised of an array of fiber optic curvature sensors, laminated on a long, thin ribbon tape, geometrically arranged in such a way that, when it is embedded into the flexible link, the bend and twist of the link’s centerline can be measured. Experimental results show the effectiveness of the proposed approach.

scholarly journals Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables

2021 ◽  
Vol 162 ◽  
pp. 104347
Author(s):  
Lewei Tang ◽  
Marc Gouttefarde ◽  
Haining Sun ◽  
Lairong Yin ◽  
Changjiang Zhou
Keyword(s):  
Vibration Suppression ◽  
Dynamic Modelling ◽  
Flexible Manipulator ◽  
Single Link

Approximate Formulas for Cylindrical Shell Free Vibration Based on Vlasov’s and Enhanced Vlasov’s Semi-Momentless Theory

2018 ◽  
Author(s):  
Igor Orynyak ◽  
Yaroslav Dubyk
Keyword(s):  
Cylindrical Shell ◽  
Boundary Conditions ◽  
Circular Cylindrical Shell ◽  
Equations Of Motion ◽  
Middle Surface ◽  
Axial Direction ◽  
Mode Shapes ◽  
Natural Mode ◽  
Transverse Deflection ◽  
Approximate Formulas

Simple approximate formulas for the natural frequencies of circular cylindrical shells are presented for modes in which transverse deflection dominates. Based on the Donnell-Mushtari thin shell theory the equations of motion of the circular cylindrical shell are introduced, using Vlasov assumptions and Fourier series for the circumferential direction, an exact solution in the axial direction is obtained. To improve the results assumptions of Vlasov’s semimomentless theory are enhanced, i.e. we have used only the hypothesis of middle surface inextensibility to obtain a solution in axial direction. Nonlinear characteristic equations and natural mode shapes, are derived for all type of boundary conditions. Good agreement with experimental data and FEM is shown and advantage over the existing formulas for a variety of boundary conditions is presented.

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