Investigation of Vibration Control Performance with Modified Motion Planning Based on Basic Functions for Composite Robot Manipulators
Küçük Resim Yok
Tarih
2024
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Springer
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
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.
Açıklama
Anahtar Kelimeler
Composite manipulator, Endpoint vibrations, Motion-based control, Modified motion planning
Kaynak
Iranian Journal of Science and Technology-Transactions of Mechanical Engineering
WoS Q Değeri
Q3
Scopus Q Değeri
Q2
Cilt
48
Sayı
1
