Theoretical and experimental study on vibration control of flexible manipulator based on internal resonance

2017 ◽  
Vol 24 (15) ◽  
pp. 3321-3337 ◽  
Author(s):  
Yushu Bian ◽  
Zhihui Gao ◽  
Xin Lv ◽  
Ming Fan
Keyword(s):  
Experimental Study ◽  
Experimental Investigation ◽  
Vibration Control ◽  
Internal Resonance ◽  
Control Method ◽  
Experimental Studies ◽  
Rigid Motion ◽  
Flexible Manipulator ◽  
Vibration Energy ◽  
Vibration Absorber

Theoretical and experimental studies are conducted to control nonlinear vibration of a two-link flexible manipulator via internal resonance. A vibration control method is proposed and an effective vibration absorber is implemented based on a servomotor to establish a 2:1 internal resonance relationship with the flexible manipulator. By way of perturbation analysis, it is proven that internal resonance can be successfully established for the flexible manipulator undergoing rigid motion. In the presence of damping, the vibration energy of the flexible manipulator can be transferred to and dissipated by the vibration absorber via internal resonance. Numerical simulations and experimental investigation have verified the effectiveness and feasibility of the proposed method.

scholarly journals A Vibration Control Method for the Flexible Arm Based on Energy Migration

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Yushu Bian ◽  
Zhihui Gao ◽  
Ming Fan
Keyword(s):  
Vibration Control ◽  
Internal Resonance ◽  
Control Method ◽  
Rigid Motion ◽  
Energy Migration ◽  
Vibration Energy ◽  
Vibration Absorber ◽  
Enhancement Effect ◽  
Inertial Coupling ◽  
Flexible Arm

A vibration control method based on energy migration is proposed to decrease vibration response of the flexible arm undergoing rigid motion. A type of vibration absorber is suggested and gives rise to the inertial coupling between the modes of the flexible arm and the absorber. By analyzing 1 : 2 internal resonance, it is proved that the internal resonance can be successfully created and the exchange of vibration energy is existent. Due to the inertial coupling, the damping enhancement effect is revealed. Via the inertial coupling, vibration energy of the flexible arm can be dissipated by not only the damping of the vibration absorber but also its own enhanced damping, thereby effectively decreasing vibration. Through numerical simulations and analyses, it is proven that this method is feasible in controlling nonlinear vibration of the flexible arm undergoing rigid motion.

scholarly journals Vibration Reduction for a Flexible Arm Using Magnetorheological Elastomer Vibration Absorber

2018 ◽  
Vol 2018 ◽  
pp. 1-13 ◽  
Author(s):  
Yushu Bian ◽  
Xuefeng Liang ◽  
Zhihui Gao
Keyword(s):  
Nonlinear Vibration ◽  
Internal Resonance ◽  
Control Method ◽  
Resonance Condition ◽  
Vibration Energy ◽  
Vibration Absorber ◽  
Semiactive Control ◽  
Magnetorheological Elastomer ◽  
Flexible Arm ◽  
Transfer Channel

The application of the magnetorheological elastomer (MRE) to nonlinear vibration control for a flexible arm is investigated in this paper. A semiactive control method is suggested to reduce vibration via the internal resonance and the MRE. To establish a vibration energy transfer channel, a tuned vibration absorber based on the MRE is developed. Through adjusting the coil current, the frequency of the vibration absorber can be readily controlled by the external magnetic field, thereby maintaining the internal resonance condition with the flexible arm. By the perturbation analysis, it is proven that the internal resonance can be successfully established between the flexible arm and the MRE vibration absorber, and the vibration energy of the flexible arm can be transferred to and dissipated by the MRE vibration absorber. Through numerical simulations, virtual prototyping simulations, and experimental investigation, it is verified that the proposed method and the suggested MRE vibration absorber are effective in controlling nonlinear vibration of the flexible arm.

scholarly journals Nonlinear vibration control for flexible manipulator using 1: 1 internal resonance absorber

2018 ◽  
Vol 37 (4) ◽  
pp. 1053-1066 ◽  
Author(s):  
Yushu Bian ◽  
Zhihui Gao
Keyword(s):  
Nonlinear Vibration ◽  
Internal Resonance ◽  
Resonance State ◽  
Flexible Manipulator ◽  
Vibration Energy ◽  
Vibration Absorber ◽  
Main Task ◽  
Vibration Absorption ◽  
Transfer Channel ◽  
Nonlinear Vibration Control

The main task of this paper is to put forward a vibration absorption method for attenuating nonlinear vibration of the flexible manipulator based on modal interaction. A vibration absorber is suggested to establish the 1:1 internal resonance state with the flexible manipulator, thereby transferring the vibration energy from the flexible manipulator to the vibration absorber. In the presence of damping, the vibration energy of the flexible manipulator can be effectively dissipated by the vibration absorber. Since this method puts an emphasis on constructing an internal energy transfer channel between the flexible manipulator and the vibration absorber rather than directly responding to external excitations, it is particularly convenient to reduce nonlinear vibration induced by unknown external excitations. Numerical simulations and virtual prototyping simulations have verified this method’s feasibility.

Vibration Control of the Flexible Robotic Arm through Modal Interaction

2014 ◽  
Vol 490-491 ◽  
pp. 1142-1145
Author(s):  
Zhi Hui Gao ◽  
Bing Dong Liu ◽  
Bo Shan
Keyword(s):  
Vibration Control ◽  
Control Method ◽  
Perturbation Technique ◽  
Equations Of Motion ◽  
Rigid Motion ◽  
Robotic Arm ◽  
Vibration Absorber ◽  
Modal Interaction ◽  
Flexible Arm ◽  
Nonlinear Equations Of Motion

A vibration control method is proposed to suppress nonlinear large vibration of the flexible robotic arm undergoing rigid motion. The method takes advantage of modal interaction and is implemented based on internal resonance. To attenuate vibration of the flexible arm, another vibrating system, consisting of a rigid link, a flexible joint and a damper, is introduced as a vibration absorber. Perturbation technique is used to study the transient response of the nonlinear equations of motion. Numerical simulation results preliminarily verify that the proposed control strategy is able to effectively reduce vibration of the flexible robotic arm.

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

2013 ◽  
Vol 20 (4) ◽  
pp. 665-680 ◽  
Author(s):  
Yushu Bian ◽  
Zhihui Gao
Keyword(s):  
Large Amplitude ◽  
Internal Resonance ◽  
Rigid Motion ◽  
Robotic Manipulator ◽  
Flexible Manipulator ◽  
Vibration Absorber ◽  
Dissipation Of Energy ◽  
Flexible Robotic Manipulator ◽  
The Impact ◽  
Impact Vibration

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.

scholarly journals Using nonlinear jumps to estimate cubic stiffness nonlinearity: An experimental study

2016 ◽  
Vol 230 (19) ◽  
pp. 3575-3581 ◽  
Author(s):  
Bin Tang ◽  
MJ Brennan ◽  
V Lopes ◽  
S da Silva ◽  
R Ramlan
Keyword(s):  
Experimental Study ◽  
Experimental Investigation ◽  
Vibration Control ◽  
Theoretical Basis ◽  
Mechanical Design ◽  
Type System ◽  
Restoring Force ◽  
Surface Method ◽  
System Properties ◽  
Cubic Stiffness

Attempts are being made to improve mechanical design by using nonlinearity rather than eliminating it, especially in the area of vibration control and in energy harvesting. In such systems, there is a need to both predict the dynamic behavior and to estimate the system properties from measurements. This paper concerns an experimental investigation of a simple identification method, which is specific to systems in which the behavior is known to be similar to that of a Duffing-type system. It involves the measurement of jump-down frequencies and the amplitudes of displacement at these frequencies. The theoretical basis for the method is briefly described as, is an experimental investigation on a beam-shaker system. The results are comparable with those determined by the restoring force surface method. The method described in this article has the advantage that the data can be collected and processed more easily than the restoring force surface method and can be potentially more suitable for the engineering community than existing identification measures.

scholarly journals Experimental investigation of acid mining water

2020 ◽  
Vol 207 ◽  
pp. 02016
Author(s):  
Martin Pushkarov ◽  
Rositsa Velichkova
Keyword(s):  
Experimental Study ◽  
Experimental Investigation ◽  
Mine Water ◽  
Experimental Studies ◽  
Metal Cations ◽  
Mining Water ◽  
Iron Manganese

In presented work is made an experimental study for purification of mining water. Depending on the specific requirements, the required methodology is used. It is made an analysis of the obtain results. Experimental studies to determine the levels of purification of impurities monitored in the treated mine water depending on the chosen method for their treatment were conducted on the basis of the compared results for the content of monitored pollutants - mainly insoluble substances, iron, manganese and metal cations.

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