Comparison of classical and newly designed motion profiles for motion-based control of flexible composite manipulator

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dc.authoridUYAR, MEHMET/0000-0003-3511-7682
dc.contributor.authorUyar, M.
dc.date.accessioned2024-10-04T18:49:23Z
dc.date.available2024-10-04T18:49:23Z
dc.date.issued2022
dc.departmentBayburt Üniversitesien_US
dc.description.abstractThe 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.en_US
dc.identifier.doi10.1007/s40430-022-03725-2
dc.identifier.issn1678-5878
dc.identifier.issn1806-3691
dc.identifier.issue9en_US
dc.identifier.scopus2-s2.0-85136947029en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.urihttps://doi.org/10.1007/s40430-022-03725-2
dc.identifier.urihttp://hdl.handle.net/20.500.12403/3099
dc.identifier.volume44en_US
dc.identifier.wosWOS:000841772500002en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherSpringer Heidelbergen_US
dc.relation.ispartofJournal of the Brazilian Society of Mechanical Sciences and Engineeringen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectComposite manipulatoren_US
dc.subjectMotion controlen_US
dc.subjectResidual vibration suppressionen_US
dc.subjectSimMechanics-based modelen_US
dc.titleComparison of classical and newly designed motion profiles for motion-based control of flexible composite manipulatoren_US
dc.typeArticleen_US

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