Shock and Vibration

Shock and Vibration / 2013 / Article

Open Access

Volume 20 |Article ID 505830 | https://doi.org/10.3233/SAV-130775

Yushu Bian, Zhihui Gao, "Impact Vibration Attenuation for a Flexible Robotic Manipulator through Transfer and Dissipation of Energy", Shock and Vibration, vol. 20, Article ID 505830, 16 pages, 2013. https://doi.org/10.3233/SAV-130775

Impact Vibration Attenuation for a Flexible Robotic Manipulator through Transfer and Dissipation of Energy

Received04 Aug 2012
Revised14 Jan 2013
Accepted22 Jan 2013

Abstract

Due to the presence of system flexibility, impact can excite severe large amplitude vibration responses of the flexible robotic manipulator. This impact vibration exhibits characteristics of remarkable nonlinearity and strong energy. The main goal of this study is to put forward an energy-based control method to absorb and attenuate large amplitude impact vibration of the flexible robotic manipulator. The method takes advantage of internal resonance and is implemented through a vibration absorber based on the transfer and dissipation of energy. The addition of the vibration absorber to the flexible arm generates a coupling effect between vibration modes of the system. By means of analysis on 2:1 internal resonance, the exchange of energy is proven to be existent. The impact vibrational energy can be transferred from the arm to the absorber and dissipated through the damping of the absorber. The results of numerical simulations are promising and preliminarily verify that the method is feasible and can be used to combat large amplitude impact vibration of the flexible manipulator undergoing rigid motion.

Copyright © 2013 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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