A Vibration Suppression Device of Single-Link Flexible Manipulator and Its Control Algorithm

A device which comprises three parts, electromotor, screw and cable, is proposed to suppress the vibration of a single-link flexible manipulator. The manipulator acted on jointly by the device and the load at manipulator’s end-effector is modeled as a cantilever beam with three concentrated loads at two end-points and midpoint. By taking the exserted length of the screw as control variable, the curve equation of the cantilever beam is educed. According to the curve equation, the expression about the exserted length of the screw and the maximal offset of the manipulator arm are given in the case of offset at manipulator’s end-effector to be zero. By comparing the maximal offset with that in case without using the device, the result shows that the maximal offset in latter case is 3√5 times. A simulation result shows the shape of manipulator acted on jointly by the device and the load at manipulator’s end-effector, and confirms feasibility of the device and its control algorithm. A prominent predominance of the vibration suppression device and its control algorithm is that the maximal offset appears at the midpoint neighborhood of manipulator, but offset at manipulator’s end-effector closes to zero.