English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

In this study, the control of post-motion residual vibrations of a two-link flexible manipulator is investigated. The manipulator is modeled in ANSYS by using APDL (Ansys Parametric Design Language). The post-motion vibration signals are simulated by transient analysis which is performed in ANSYS based on the finite element theory. Experimental results are also presented and compared with simulation results. Trapezoidal velocity profiles are used for the motors. The acceleration, constant velocity and deceleration time intervals of the trapezoidal velocity profile are determined by considering the lowest natural frequency of the manipulator structure at the stopping position. Various starting and stopping positions are considered. The root mean square (RMS) acceleration values of the vibration signals after stopping are calculated. It is observed that the residual vibration is sensitive to the deceleration time.  The RMS values are lowest if the inverse of the deceleration time is equal to the first natural frequency.  It is highest if the inverse of the deceleration time is equal to the half of the first natural frequency. It is observed that simulation and experimental results are in good agreement.

İki Eksenli Esnek bir Manipülatörün ANSYS APDL ile Modellenmesi ve Titreşim Kontrolü