Finite Element Analysis for Active-force Control on Vibration of a Flexible Single-link Manipulator | Zendy

Abdul Kadir Muhammad | Zendy; Shingo Okamoto | Zendy; Jae Hoon Lee | Zendy

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Finite Element Analysis for Active-force Control on Vibration of a Flexible Single-link Manipulator

Author(s) -

Abdul Kadir Muhammad,

Shingo Okamoto,

Jae Hoon Lee

Publication year - 2016

Publication title -

international journal on smart material and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 2460-075X

pISSN - 2356-5314

DOI - 10.20342/ijsmm.2.2.106

Subject(s) - link (geometry) , finite element method , manipulator (device) , vibration , vibration control , control theory (sociology) , computer science , control (management) , structural engineering , physics , engineering , acoustics , robot , computer network , artificial intelligence

The purposes of this research are to formulate the equations of motion of the system, to develop computational codes by a finite element analysis in order to perform dynamics simulation with vibration control, to propose an effective control scheme using active-force (AF) control a flexible single-link manipulator. The system used in this paper consists of an aluminum beam as a flexible link, a clamp-part, a servo motor to rotate the link and a piezoelectric actuator to control vibration. Computational codes on time history responses, FFT (Fast Fourier Transform) processing and eigenvalues-eigenvectors analysis were developed to calculate dynamic behavior of the link. Furthermore, the AF control was designed to drive the piezoelectric actuator. Calculated results have revealed that the vibration of the system can be suppressed effectively.

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