DYNAMIC MODELING OF A SINGLE-LINK FLEXIBLE MANIPULATOR ROBOT WITH TRANSLATIONAL AND ROTATIONAL MOTIONS

Keywords: Dynamic modeling, single-link flexible manipulator, finite-element method, time history response, translational and rotational motions.

Abstract

The flexible manipulator is widely used in space robots, robot arm, and manufacturing industries that produce micro-scale products. This study aims to formulate the equation of motion of a flexible single-link manipulator system that moves translationally and rotationally and to develop computational codes with finite element methods in performing dynamic simulation on the vibration of the flexible manipulator system. The system of the single-link flexible manipulator (SLFM) consists of the aluminum beam as a flexible link, clamp part to hold the link, DC motor to rotate drive shaft, a trajectory to transfer link in translational motion, and servo motor to rotate link. Computational codes in time history response (THR) and Fast Fourier Transform (FFT) processing were developed to identify the dynamic behavior of the link. The finite element-method and Newmark-beta are used in simulating the SLFM. Simulation using the finite element method has displayed dynamic behavior through a graph of FFT on free vibration and THR graph on forced vibration by the excitation force due to the translational and rotational motions of the system. In the simulation of free vibration, the natural frequency of the system is 8.3 [Hz].

Downloads

Download data is not yet available.

Author Biographies

Hammada Abbas, Hasanuddin University

Department of Mechanical Engineering, Hasanuddin University

Rafiuddin Syam, Hasanuddin University

Department of Mechanical Engineering, Hasanuddin University.

Associate Professor.

References

[1] M. Sabatini, P. Gasbarri, R. Monti, and G. B. Palmerini, “Vibration control of a flexible space manipulator during on-orbit operations,” Acta Astronaut., vol. 73, pp. 109–121, 2012.
[2] K. Nanos and E. G. Papadopoulos, “On the dynamics and control of flexible joint space manipulators,” Control Eng. Pract., vol. 45, pp. 230–243, 2015.
[3] D. Meng, X. Wang, W. Xu, and B. Liang, “Space robots with flexible appendages: Dynamic modeling, coupling measurement, and vibration suppression,” J. Sound Vib., vol. 396, 2017.
[4] P. Gasbarri and A. Pisculli, “Dynamic/control interactions between flexible orbiting space-robot during grasping, docking and post-docking manoeuvres,” Acta Astronaut., vol. 110, 2015.
[5] G. K. Borovin and V. Lapshin, “Motion planning of a space robot,” in IOP Conference Series: Materials Science and Engineering PAPER, 2018.
[6] W. Xu, D. Meng, Y. Chen, H. Qian, and Y. Xu, “Dynamics modeling and analysis of a flexible-base space robot for capturing large flexible spacecraft,” Multibody Syst. Dyn., 2014.
[7] Z. C. Qiu, “Adaptive nonlinear vibration control of a Cartesian flexible manipulator driven by a ballscrew mechanism,” Mech. Syst. Signal Process., vol. 30, pp. 248–266, 2012.
[8] H. Shin and S. Rhim, “Modeling and control of lateral vibration of an axially translating flexible link,” J. Mech. Sci. Technol., vol. 29, no. 1, pp. 191–198, 2015.
[9] H. Yang, J. Liu, and X. Lan, “Observer Design for a flexible-link manipulator with PDE model,” J. Sound Vib., vol. 341, pp. 237–245, 2015.
[10] A. A. Ata, W. F. Fares, and M. Y. Sa’adeh, “Dynamic Analysis of a Two-link Flexible Manipulator Subject to Different Sets of Conditions,” Procedia Eng., vol. 41, pp. 1253–1260, 2012.
[11] A. K. Muhammad, S. Okamoto, and J. H. Lee, “Computer simulations on vibration control of a flexible single-link manipulator using finite- element method,” in The Nineteenth International Symposium on Artificial Life and Robotics 2014, 2014.
[12] A. K. Muhammad, S. Okamoto, and J. H. Lee, “Finite Element Analysis for Active-force Control on Vibration of a Flexible Single-link Manipulator,” Int. J. Smart Mater. Mechatronics, vol. 2, no. April, p. 18, 2016.
[13] A. K. Muhammad, S. Okamoto, and J. H. Lee, “Comparison of proportional-derivative and active-force controls on vibration of a flexible single-link manipulator using finite-element method,” Artif. Life Robot., vol. 19, no. 4, pp. 375–381, 2014.
[14] A. K. Muhammad, S. Okamoto, and J. H. Lee, “Active-Force Control on Vibration of a Flexible Single-Link Manipulator Using a Piezoelectric Actuator,” in Transactions on Engineering Technologies, Springer, 2015, pp. 1–15.
[15] A. K. Muhammad, S. Okamoto, and J. H. Lee, “Comparisons of proportional and active-force controls on vibration of a flexible link manipulator using a piezoelectric actuator through calculations and experiments,” Eng. Lett., vol. 22, no. 3, p. 8, 2014.
[16] A. K. Muhammad, S. Okamoto, and J. H. Lee, “Comparison Between the One Piezoelectric Actuator and the Two Ones on Vibration Control of a Flexible Two-Link Manipulator Using Finite Element Method,” Int. J. Mech. Eng., vol. 5, no. 1, pp. 25–42, 2016.
[17] A. K. Muhammad, S. Okamoto, and J. H. Lee, “Computer Simulations and Experiments on Vibration Control of a Flexible Link Manipulator Using a Piezoelectric Actuator Computer Simulations and Experiments on Vibration Control of a Flexible Link Manipulator Using a Piezoelectric Actuator,” Eng. Lett., vol. 3, no. 23, 2015.
[18] S. Mahto, “Shape optimization of revolute-jointed single-link flexible manipulator for vibration suppression,” Mamt, vol. 75, pp. 150–160, 2014.
[19] R. Dubay, M. Hassan, C. Li, and M. Charest, “Finite element based model predictive control for active vibration suppression of a one-link flexible manipulator,” ISA Trans., vol. 53, no. 5, pp. 1609–1619, 2014.
[20] D. Halim, X. Luo, and P. M. Trivailo, “Decentralized vibration control of a multi-link flexible robotic manipulator using smart piezoelectric transducers,” Acta Astronaut., vol. 104, no. 1, pp. 186–196, 2014.
[21] Ş. Yavuz, L. Malgaca, and H. Karagülle, “Vibration control of a single-link flexible composite manipulator,” Compos. Struct., vol. 140, pp. 684–691, 2016.
[22] S. K. Parashar, U. von Wagner, and P. Hagedorn, “Finite element modeling of nonlinear vibration behavior of piezo-integrated structures,” Comput. Struct., vol. 119, pp. 37–47, 2013.
[23] F. Kadıoğlu and G. Tekin, “Mixed Finite Element Formulation for the Free Vibration Analysis of Viscoelastic Plates with Uniformly Varying Cross-Section,” Int. J. Mech. Eng. Robot. Res., vol. 7, no. 2, pp. 235–239, 2018.
[24] D. X. Bien, C. A. My, and P. B. Khoi, “Dynamic Modeling and Control of a Flexible Link Manipulators with Translational and Rotational Joints,” VNU J. Sci. Math. – Phys., vol. 34, no. 1, pp. 52–66, 2018.
Published
2020-01-20
How to Cite
Dermawan, D., Abbas, H., Syam, R., Djafar, Z., & Muhammad, A. K. (2020). DYNAMIC MODELING OF A SINGLE-LINK FLEXIBLE MANIPULATOR ROBOT WITH TRANSLATIONAL AND ROTATIONAL MOTIONS. IIUM Engineering Journal, 21(1), 228 - 239. https://doi.org/10.31436/iiumej.v21i1.1254
Section
Mechatronics and Automation Engineering