Search for collections on PNUP Repository

COMPARISON BETWEEN THE ONE PIEZOELECTRIC ACTUATOR AND THE TWO ONES ON VIBRATION CONTROL OF A FLEXIBLE TWO-LINK MANIPULATOR USING FINITE ELEMENT METHOD

Muhammad, Abdul Kadir (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, 5 (1): 3. pp. 27-44. ISSN 2319-2240

[thumbnail of L_B6_IJEM_Kadir_2016.pdf] Text
L_B6_IJEM_Kadir_2016.pdf - Published Version

Download (2MB)

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: Jurusan Teknik Mesin > D4 Teknik Mekatronika
Depositing User: Dr.Eng. Abdul Kadir Muhammad, ST., M.Eng.
Date Deposited: 30 Apr 2023 14:39
Last Modified: 27 May 2023 09:13
URI: https://repository.poliupg.ac.id/id/eprint/1080

Actions (login required)

View Item
View Item