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    Comparison of classical and newly designed motion profiles for motion-based control of flexible composite manipulator
    (Springer Heidelberg, 2022) Uyar, M.
    The motion profiles defined to move the robot manipulators directly affect the endpoint position accuracy, position repeatability, and vibration control of the manipulators in engineering applications, especially in flexible manipulators. This study deals theoretically and experimentally with the dynamic performance of two different motion profiles in reducing the vibration amplitudes of a single-link flexible composite manipulator. Manipulator is produced from epoxy-glass composite material with a layer orientation of [0/90/0/0/90/0] lay-up. For theoretical studies, the SimMechanics-based flexible dynamic model is created using flexible beam block in MATLAB/Simulink, and the finite element model is established with a layered structural solid element in ANSYS. Two different motion profiles are defined to drive the manipulator for different stopping positions and motion times. Simulations are achieved by using motion profiles. The performance of the motion profiles is evaluated by considering the reduction ratio of residual displacement and acceleration vibrations generated at the endpoint of the manipulator. RMS values of residual vibrations are calculated to determine the rate of residual vibration suppression. Reduction ratios are determined by considering the maximum vibration amplitudes as the reference RMS value. The effectiveness of the motion profiles is presented in comparison with the reduction rates. Simulation results obtained using both displacement and acceleration vibration responses are verified with experiments for all motion cases. Also, the modeling and analysis of the composite manipulator are verified by simulations and experiments with the SimMechanics-based modeling method, and the reliability of the proposed method is increased.
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    Dynamic Angular Velocity Load-Based Energy Harvesting Analysis for Different Blade Angles and Polarization Directions of Smart Blades
    (Springer Heidelberg, 2024) Uyar, M.
    Energy consumption and control of electrical devices in flying electric vehicles with propellers such as drones are important for the continuity of the movement process. With this motivation, the piezoelectric energy harvesting performances of the smart drone propeller and smart wind blades are evaluated in order to obtain electrical energy from lead zirconate titanate (PZT) material placed on the propellers. Initially, the effect of smart wind blades with different blade angles on energy harvesting analysis is examined. The energy harvesting performances of the converse (z polarization) and shearing movements (y polarization) of the PZT material placed on the wind blades are compared under different angular rotational velocities. Then, the power outputs obtained depending on the sensor responses of the smart drone propeller with different resistance gains are evaluated according to the polarization directions. The maximum and minimum power output values obtained from the smart drone propeller at 12,000 rpm rotation velocity are measured as about 0.086 and 0.008 W, respectively. The results show that the energy harvesting performance of the z-polarized smart propeller is more effective than the y polarization, and the amount of energy obtained with the increase in the endpoint vibration amplitudes increases as the rotation speed increases.
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    Implementation of Active and Passive Vibration Control of Flexible Smart Composite Manipulators with Genetic Algorithm
    (Springer Heidelberg, 2023) Uyar, M.; Malgaca, L.
    Endpoint vibrations of flexible manipulators (FM) are suppressed using active or passive control techniques. Suppressing vibrations increases the dynamic performance of the FM in engineering applications. In this study, a model extraction approach is proposed for vibration suppression of single-link flexible smart and composite manipulators. Active and passive control (APC) of residual vibrations is studied theoretically and experimentally. The smart manipulator consists of patching a piezoelectric (PZT) actuator to an aluminum and composite link. The finite element (FE) model of smart manipulators, including revolute joint and PZT actuator, is created in ANSYS. The motion profile and actuator voltage are the inputs, the tip displacement is the output. Then, the state-space (SS) mathematical models of the smart manipulators are extracted from the FE models by using the inputs and outputs. The open-loop and closed-loop simulations are performed using the extracted mathematical models in MATLAB. Passive control is achieved by the motion profiles, while active control is achieved by the PZT actuators. The PD controller with the displacement feedback is used to create the actuation voltages. For the optimized APC, the PD gains are optimized with a genetic algorithm by using the integral of the squared error and integral of absolute magnitude of the error fitness functions. Residual vibrations of smart manipulators are successfully reduced by the optimized APC. To verify the simulation results, open-loop and closed-loop experiments are carried out. The SS mathematical model successfully predicts the dynamic performance of FSM for various motion profiles, according to experimental results.
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    Investigation of Vibration Control Performance with Modified Motion Planning Based on Basic Functions for Composite Robot Manipulators
    (Springer, 2024) Uyar, M.
    When flexible manipulators complete their movements to the desired position, vibrations occur at the endpoint. Reducing vibrations is an important advantage for eliminating positioning errors and monitoring position accuracy. However, the increase in vibration amplitudes leads to the inability to complete the planned tasks in the applications and results in loss of productivity. Therefore, the reduction of end-effector vibrations is an important research area. In this study, a motion-based control (MBC) method with designed motion profiles is introduced to reduce the endpoint vibrations of epoxy-glass-reinforced composite manipulators. Three different motion profiles, namely Modification-1, Modification-2, and Modification-3, are designed according to time and maximum velocity values depending on the system's frequencies. For the design of Modification-1, variable deceleration and acceleration times are considered, while for Modification-2 and Modification-3, both the maximum angular velocity and the deceleration and acceleration times are utilized. For two different angular positions and motion times, all motion profiles are applied to two composite manipulators with different frequencies, and the results are experimentally and numerically obtained to examine the vibration performance of MBC. Simulation results confirmed with experiments are achieved using mathematical models in ANSYS. To evaluate the effectiveness of MBC, the change in RMS values of endpoint vibration responses and the reduction rates are presented comparatively for all motion profiles. The results show significant advantages for the MBC method, reducing vibrations by approximately 99%, and eliminating positioning errors caused by vibrations.