Residual vibration control for a flexible manipulator

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Journal of Vibration and Shock ›› 2019, Vol. 38 ›› Issue (7) : 165-171.

DU Yanfeng, WANG Cong

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Abstract

In order to control residual vibration for a flexible manipulator after its motion stopping,the first-order approximation rigid-flexible coupled dynamic model was built for the flexible manipulator system and its rigid-flexible coupled dynamic model under a non-inertial coordinates was all derived. During the flexible manipulator having triangular and trapezoidal motion laws,the system vibration deformations were simulated under different motion parameters. The simulation results showed that the system’s residual vibration amplitude after its motion stopping is larger when its decelerating time is smaller than the system’s first order natural vibration period; the system’s residual vibration is well suppressed when its decelerating time is equal to the system’s first order natural vibration period; when its decelerating time is constant,the system’s residual vibration fluctuates with the variation of the time of its rotation with a constant speed; when the time of its rotation with a constant speed is a quarter of the system’s first order natural vibration period,the system’s residual vibration reaches a local minimum.

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flexible manipulator / rigid-flexible coupling / residual vibration / vibration control

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DU Yanfeng, WANG Cong. Residual vibration control for a flexible manipulator[J]. Journal of Vibration and Shock, 2019, 38(7): 165-171

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