Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables

• Published in: Mechanism and machine theory Vol. 162; p. 104347
• Main Authors: Tang, Lewei, Gouttefarde, Marc, Sun, Haining, Yin, Lairong, Zhou, Changjiang
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.08.2021; Elsevier
• Subjects: Automatic; Cable; Dynamic modelling; Engineering Sciences; Hamilton's principle; Single-link flexible manipulator; Vibration suppression; Cable; Single-link flexible manipulator; Vibration suppression; Dynamic modelling; Hamilton's principle; Hamilton's Principle; Dynamic Modelling; Single-link Flexible Manipulator; Vibration Suppression
• ISSN: 0094-114X; 1873-3999
• DOI: 10.1016/j.mechmachtheory.2021.104347

•Dynamic model of a single-link flexible system with cables is developed.•Cables are regarded as massless springs and the link as Euler-Bernoulli beam.•Simulations are performed in ADAMs and ANSYS to verify the proposed model.•Effects of the tip payload and cables on natural frequency are analyzed.•Experimental verification of the proposed dynamic model is implemented. This paper introduces the dynamic modelling of a single-link flexible manipulator with two cables. The end-effector is attached at the distal end of the flexible link and tensed cables are used to suppress vibration. The flexible link is considered as an Euler-Bernoulli beam and the cable as a massless spring. By applying the Hamilton's principle, a set of nonlinear equations of motion are derived with two boundary constraints. A calculation method is proposed to determine the natural frequency of the single-link flexible manipulator with cables. Simulation experiments are performed to validate the effectiveness of the proposed method. Three non-dimensional parameters are introduced to investigate the effects on the natural frequency of the flexible system. An experimental verification is implemented and the actual frequencies are found to be in good agreement with both the ones based on the proposed dynamic model and obtained in simulations. The results show that the vibration is greatly suppressed by utilizing cables in the flexible-link manipulator, which demonstrates that a lightweight flexible system with cables has the potential to be employed in the fields of fast lightweight industrial manipulators, robotic arms for remote manipulation in space and bio-inspired engineering.