Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors

Table 1

Dimensional and mechanical properties of the aluminium link and piezoelectric materials. Capacitance of the piezofilm (C) 380 pF cm⁻². Piezoelectric stress constant of the piezofilm (g ₃₁) 216 × 10⁻³ (V m⁻¹) (N m⁻²)⁻¹. Electromechanical coupling factor (k ₃₁) 0.44.

	Young's modulus (GPa)	Thickness (mm)	Density (kg m^−3)	Width (mm)	Length (m)
Aluminum link	65	at one side: 1 at other: 0.6	2890	25	1
Piezoceramic (PZT)	64	0.815	7700	25	0.2
Piezofilm	2.0	0.028	1780	25	0.2