Tek eksenli epoksi-cam kompozit manipülatörün titreşim kontrolünün FFT yöntemi ile analizi

Yıl 2021, Cilt: 36 Sayı: 2, 684 - 700, 05.03.2021

Şahin Yavuz , Hira Karagülle

https://doi.org/10.17341/gazimmfd.695323

Öz

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.

Anahtar Kelimeler

Esnek kompozit manipülatör, titreşim kontrolü, FFT yöntemi

Kaynakça

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