Dynamics and Control of Flexible Link Manipulator With Intermediate-Payload
Singh, Akhil Pratap
Dynamics and Control of Flexible Link Manipulator With Intermediate-Payload by Akhil Pratap Singh - IIT Jodhpur Department of Mechanical Engineering 2020 - xvi,49p. HB
Industrial robot manipulators are the machines that are used to increase productivity, product quality, reduce cost and elimination of hazardous and unpleasant work. Flexible link manipulators are the future of robotic industry due to many advantages over rigid link manipulator. It has lower energy consumption, higher payload to manipulator weight ratio, high speed in operation, small actuators use to move manipulators arm and safer in operation due to low inertia of the arm. These benefits come at the cost of flexibility of manipulator arm that increases vibration of end tip.This thesis is focused systematic approach for dynamic modelling and control of tip position of flexible link manipulator with intermediate-payload which rotates in horizontal plane. In dynamic formulation, Lagrangian equation is used to obtain equation of motion of the system based on Euler Bernoulli‟s beam theory. Assumed mode method (AMM) is used to discretize distributed system. There is state space method is used to solve equation of motion and results for tip deflection illustrated graphically. There is computed-torque control method based PID controller is used to control end point trajectory and supress the tip vibration.There is effect of various critical parameters on the modal parameters and tip of manipulator is simulated. There is different input signal is given as reference trajectory to PID controller and effectiveness of controller is obtained by ability to track trajectory.
Flexible Link Manipulator With Intermediate-Payload
MTech Theses
Department of Mechanical Engineering
629.831 / Si64D
Dynamics and Control of Flexible Link Manipulator With Intermediate-Payload by Akhil Pratap Singh - IIT Jodhpur Department of Mechanical Engineering 2020 - xvi,49p. HB
Industrial robot manipulators are the machines that are used to increase productivity, product quality, reduce cost and elimination of hazardous and unpleasant work. Flexible link manipulators are the future of robotic industry due to many advantages over rigid link manipulator. It has lower energy consumption, higher payload to manipulator weight ratio, high speed in operation, small actuators use to move manipulators arm and safer in operation due to low inertia of the arm. These benefits come at the cost of flexibility of manipulator arm that increases vibration of end tip.This thesis is focused systematic approach for dynamic modelling and control of tip position of flexible link manipulator with intermediate-payload which rotates in horizontal plane. In dynamic formulation, Lagrangian equation is used to obtain equation of motion of the system based on Euler Bernoulli‟s beam theory. Assumed mode method (AMM) is used to discretize distributed system. There is state space method is used to solve equation of motion and results for tip deflection illustrated graphically. There is computed-torque control method based PID controller is used to control end point trajectory and supress the tip vibration.There is effect of various critical parameters on the modal parameters and tip of manipulator is simulated. There is different input signal is given as reference trajectory to PID controller and effectiveness of controller is obtained by ability to track trajectory.
Flexible Link Manipulator With Intermediate-Payload
MTech Theses
Department of Mechanical Engineering
629.831 / Si64D