gummfd Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi 1300-1884 1304-4915 Gazi Üniversitesi 10.17341/gazimmfd.695323 Engineering Mühendislik Tek eksenli epoksi-cam kompozit manipülatörün titreşim kontrolünün FFT yöntemi ile analizi https://orcid.org/0000-0001-9007-772X Yavuz Şahin DOKUZ EYLÜL ÜNİVERSİTESİ https://orcid.org/0000-0001-5546-7538 Karagülle Hira DOKUZ EYLÜL ÜNİVERSİTESİ 03 05 2021 36 2 684 700 02 27 2020 10 08 2020 Copyright © 1986, Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi 1986 Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi

Bu çalışmada, girdi şekillendirme yoluyla tek eksenli esnek kompozit manipülatörün titreşim kontrolünü incelemek için Hızlı Fourier Dönüşümü'nü (FFT) kullanan bir yöntem tanıtılmıştır. FFT yöntemi, ANSYS tarafından elde edilebilen sistemin darbe cevabını kullanır. Ardından, çeşitli girdiler için FFT yöntemi ile titreşim cevapları bulunur. Yöntem önce 4 serbestlik dereceli bir sistemde doğrulanmıştır. Analitik olarak Laplace dönüşüm yöntemi ile sayısal olarak Newmark yöntemi ile ve doğrudan ANSYS programında elde edilen cevaplar, FFT yöntemi kullanılarak bulunan cevaplar ile karşılaştırılmıştır. Daha sonra, doğal frekansların ve darbe cevabının bulunduğu ANSYS programında tek eksenli kompozit bir manipülatör modellenmiştir. FFT yöntemi, çeşitli trapez hız profillerine sahip girdiler için titreşim cevaplarını elde etmek için kullanılır. Hareket boyunca hareket sonrası titreşimleri elde eden dinamik analiz için hesaplama süresi ANSYS'de 22 saat ve FFT yöntemi için sadece 1 saniye sürmektedir. ANSYS tarafından bulunan doğal frekanslar ve FFT yönteminin bulduğu titreşim cevapları için benzetim sonuçları deneysel sonuçlarla karşılaştırılmıştır ve sonuçlar uyumlu çıkmıştır. Hız profilinin yavaşlama süresinin titreşimi kontrol etmek için etkili olduğu gözlemlenmektedir. Hesaplama süreleri göz önüne alındığında, FFT yöntemi karmaşık mekanik sistemlerin titreşim kontrolünü incelemek için kullanılabilir.

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