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Vibration control using a modern control system for hybrid composite flexible robot manipulator Arm

Ramalingam S., Mohideen S. Rasool

Journal of Automation Mobile Robotics and Intelligent Systems

2022

Vol. 16, No. 2

36--45

In this research, a model of a robotic manipulator flexible structure and an equation of motion for controller design is planned. The structural material chosen for the robot structure was a hybrid composite. A comparison study was carried out for the aluminium 6082 alloy for the flexible manipulator arm application. Vibration behavior and control implementation was analyzed by adding joint flexibility in the system. Using a simulation algorithm, the system parameter calculation is carried out through MATLAB software for vibration amplitude, transient period, steady-state error, and settling time of flexible robotic arm system. In a systematized motion equation, flexible robotic deflections are organized via the assumed mode (AM) and Lagrange techniques (LT). The graph analysis of hybrid composite and AL6082 materials with high stiffness coefficients is plotted. These obtained values from the plot are utilized for Linear Quadratic Regulator (LQR) controller design. The LQR output facts for both aluminium structural robotic arm and composite material robotic arms are established.

Advanced structural fibre material for single link robotic manipulator simulation analysis with flexibility

Ramalingam S., Mohideen S. Rasool

Journal of Automation Mobile Robotics and Intelligent Systems

2019

Vol. 13, No. 4

38--46

The aim of this article is to investigate the characteristics of a composite fibre advanced materials used as a robotic link manipulator for replacement of rigid one. The composite material is combination of two and more fibre processed and bonded with epoxy, resulting hybrid form of material component with required properties which are to be analyzed for suitability with respect to its function, reliability, durability, safety and cost-effectiveness. The composites generally have high-strength, high-stiffness (graphite, kevlar, etc.) low-density (epoxy, polyvinyl) strong and stiff with lightweight. In this investigation, five different composite structural fibres are taken as a flexible link with joint flexibility for case study analysis. The rotating structural fibre link, loaded and tested different types of joint stiffness coefficients (kc). The numerical evaluations are conducted for structural fibre material for replacement rigid manipulator. The modeling of structural fibre single flexible link on the basis of Euler-Bernoulli beam theory and Lagrange’s equations of motion is studied and accurate modes of the system are obtained.