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

Öz

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

Anahtar Kelimeler

• S-curve Motion Profile
• Vibration Control
• Flexible Manipulator
• Newmark Method

Tek Eksen Esnek Manipülatörün Titreşim Kontrolü için S-eğrisi Hareket Profili Tasarımı

Öz

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.

Anahtar Kelimeler

• S-eğrisi Hareket Profili
• Titreşim Kontrolü
• Esnek Manipülatör
• Newmark Metotu

Kaynakça

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