Comparison between the One Piezoelectric Actuator and the Two Ones on Vibration Control of a Flexible Two-Link Manipulator Using Finite Element Method

Abdul, Kadir Muhammad and Shingo, Okamoto and Jae, Hoon Lee (2016) Comparison between the One Piezoelectric Actuator and the Two Ones on Vibration Control of a Flexible Two-Link Manipulator Using Finite Element Method. International Journal of Mechanical Engineering (IJME), 5 (1). pp. 27-44. ISSN 2319-2259

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Abstract

The purposes of this research are to derive the equations of motion of a flexible two-link system by a finite element method, to develop computational codes in order to perform dynamics simulations with vibration control and to propose an effective control scheme of a flexible two-link manipulator. The flexible two-link manipulator used in this paper consists of two aluminum beams as flexible links, two clamp-parts, two servo motors to rotate the links and two piezoelectric actuators to control vibration. Computational codes on time history responses, FFT (Fast Fourier Transform) processing and eigenvalues - eigenvectors analysis were developed to calculate the dynamic behavior of the links. Furthermore, a control scheme using the piezoelectric actuators was designed to suppress the vibration. Two proportional derivative controllers were designed and demonstrated their performances. The calculated results of the controlled two-link manipulator revealed that the vibration of the flexible manipulator can be controlled effectively even though only use one piezoelectric actuator.

Item Type: Article
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: Department of Mechanical Engineering > Teknik Mekatronika
Depositing User: Abdul Kadir Muhammad
Date Deposited: 14 Dec 2016 06:01
Last Modified: 14 Dec 2016 06:01
URI: http://repository.poliupg.ac.id/id/eprint/68

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