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Modeling and Control of Lateral Vibration of Axially Translating Flexible Link 원문보기

  • 초록

    Manipulators used for the transportation of large panel-shape payloads often adopt long and slender links (or forks) with transla-tional joins to carry the payloads. As the size of the payload increases the length of the links also increases to hold the payload securely. The increased length of the link inevitably amplifies the effect of the flexure in the link. Intuitively it seems evident that the translational motion of the link in its longitudinal direction should have no effect on the lateral vibration of the link because of the orthogonality between the direction of the translational motion and the lateral vibration. If, however, the link is flexible and translates horizontally (perpendicular to the gravitational field) the asymmetric deflection of the link caused by the gravity would break the orthogonality be-tween two directions and the longitudinal motion of the link would excite the lateral motion in the link. In this paper, the lateral oscilla-tory motion of the flexible link in a large-scale solar-cell panel handling robot where the links carry the panel in its longitudinal direc-tion. The Newtonian approach in conjunction with the assumed modes method is used for the derivation of the equation of the motion of the flexible forks where there is non-zero control force applied at the base of the link. The analysis illustrates the effect of the longi-tudinal motion on the lateral vibration and the dynamic stiffening effect (variation of the natural frequency) of the link due to the trans-lational velocity. Behavior of the lateral vibration is simulated using the derived equations of the motion. A robust vibration control scheme, the input shaping filter technique, is implemented on the model and the effectiveness of the scheme is verified numerically


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