Tek serbestlik dereceli esnek manipülatörün dinamik modellenmesi ve titreşim analizi üzerine çalışma

Yıl 2023, Cilt: 13 Sayı: 1, 47 - 56, 15.01.2023

Mehmet Uyar

https://doi.org/10.17714/gumusfenbil.1031481

Öz

Bu çalışmada, tek bağlantılı esnek manipülatörün SimMechanics tabanlı dinamik modellemesi ve titreşim analizi çalışılır. Manipülatörün modellenmesi için bir esnek kiriş modeli kurulur. Farklı hareket eğrileri ile hareket ettirilen manipülatörün uç nokta ivme titreşim tepkilerini elde etmek için geçici durum analizi gerçekleştirilir. Farklı durumlar için hem deneysel hem de simülasyon ivme sonuçları sunulur. Simülasyon sonuçlarının deney sonuçları ile doğrulanmasındaki uyumluluk performansını değerlendirmek için ivme cevaplarının ortalama karekök (RMS) değerleri hesaplanmıştır. Sonuçların birbirleriyle farklı durumlar için başarılı bir şekilde eşleştiği gözlemlenmiştir. Manipülatörlerin SimMechanics tabanlı dinamik modelleme yönteminin güvenirliği, deneysel sonuçlarla ele alınmıştır.

Anahtar Kelimeler

Dinamik modelleme, Esnek kiriş bloğu, Tek serbestlik dereceli esnek manipülator, Titreşim analizi

Teşekkür

Deneysel çalışmalarındaki katkılarından dolayı Dokuz Eylül Üniversitesine özel teşekkürlerimi sunarım.

Study on dynamic modelling and vibration analysis of single-link flexible manipulator

Öz

In this study, SimMechanics-based dynamic modeling and vibration analysis of a single-link flexible manipulator are studied. A flexible beam model is set up for modeling the manipulator. Transient analysis is performed to obtain the endpoint acceleration vibration responses of the manipulator moved with different motion profiles. Both the experimental and simulation acceleration results are presented for different cases. The root means square (RMS) values of the acceleration responses are calculated to evaluate the compatibility performance in verifying the simulation results with the experimental results. It has been observed that the results match each other successfully for different cases. The reliability of the SimMechanics-based dynamic modeling method of manipulators is discussed with the experimental results.

Anahtar Kelimeler

Dynamic modeling, Flexible beam block, Single-link flexible manipulator, Vibration analysis

Kaynakça

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