Vibration Control of Flexible Manipulators by Active Cable Tension

Abstract

The end point vibrations of the serial manipulator should be controlled during motion or working process. In this study the residual vibrations of the flexible manipulator were controlled with cable tensions. The finite element model was established in ANSYS Mechanical APDL. The open loop and closed loop control simulations were performed under the trapezoidal velocity motion profiles. Zero and three different initial strain values were assigned to the cables. As a result, the end point vibration amplitudes, axial forces of the cables and the bending strain values of the one element near the fixed end were observed in order to define the limitations of the sensors and actuators which will be selected for experimental setup.