S-curve Motion Profile Design for Vibration Control of Single Link Flexible Manipulator

In flexible manipulators, it is important the reduce end-effector vibrations. Suppression of endeffector vibrations significantly increases the precision of the performed work. Selection of velocityprofile for giving motion to a manipulator is crucial to reduce the vibrations especially during highspeed motions. In this study, the effect of 3rd order S-curve velocity motion profile time parameterswhich is related with natural period of flexible manipulator on endpoint vibrations of a flexiblebeam are investigated. The S-curve motion profile results and trapezoidal motion profile results arealso compared. The acceleration and deceleration times of both S-curve and trapezoidal velocitymotion profiles are selected equal. Finite elements model of flexible robot manipulator is createdand solution of the transient response under given velocity profile is obtained by using Newmarkmethod. The results obtained from the Newmark method are compared with the results obtainedfrom the model established using ANSYS program. The effects of time parameters of S-curve motionprofiles on endpoint vibrations were shown by comparing in terms of amplitudes.

Tek Eksen Esnek Manipülatörün Titreşim Kontrolü için Seğrisi Hareket Profili Tasarımı

Esnek manipülatörlerde, uç işlevcinin titreşimlerinin azaltılması önemlidir. Son uç işlevcinin titreşimlerinin bastırılması, yapılan işin hassasiyetini önemli ölçüde artırır. Bir manipülatörü hareket ettirmek için gerekli hız profilinin seçimi, özellikle yüksek hızlı hareketler sırasında titreşimleri azaltmak için çok önemlidir. Bu çalışmada, esnek manipülatörün doğal periyodu ile ilişkili 3. dereceden S-eğrisi hız hareket profili zaman parametrelerinin esnek bir kirişin uç nokta titreşimleri üzerindeki etkisi incelenmiştir. S-eğrisi hareket profili sonuçları ve trapez hareket profili sonuçları da karşılaştırılır. Hem S-eğrisi hem de trapez hız hareket profillerinin hızlanma ve yavaşlama süreleri eşit olarak seçilmiştir. Esnek robot manipülatörünün sonlu elemanlar modeli oluşturulmuş ve verilen hız profili altındaki geçici rejim tepkisinin çözümü Newmark yöntemi kullanılarak elde edilmiştir. Newmark yönteminden elde edilen sonuçlar ANSYS programı kullanılarak oluşturulan modelden elde edilen sonuçlarla karşılaştırılır. S-eğrisi hareket profillerinin zaman parametrelerinin uç nokta titreşimleri üzerindeki etkileri, oluşan genlikler karşılaştırılarak gösterilmiştir.

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