Analysis of vibration control of a single-link epoxy-glass composite manipulator by FFT method


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YAVUZ Ş., KARAGÜLLE H.

JOURNAL OF THE FACULTY OF ENGINEERING AND ARCHITECTURE OF GAZI UNIVERSITY, vol.36, no.2, pp.685-699, 2021 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 36 Issue: 2
  • Publication Date: 2021
  • Doi Number: 10.17341/gazimmfd.695323
  • Journal Name: JOURNAL OF THE FACULTY OF ENGINEERING AND ARCHITECTURE OF GAZI UNIVERSITY
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Art Source, Compendex, TR DİZİN (ULAKBİM)
  • Page Numbers: pp.685-699
  • Keywords: Flexible composite manipulator, vibration control, FFT method, SPECTRUM, DESIGN, SYSTEM
  • Dokuz Eylül University Affiliated: Yes

Abstract

A method which uses the Fast Fourier Transform (FFT) is introduced to study the vibration control of a single-link flexible composite manipulator by input shaping. FFT method uses the impulse response of the system which can be obtained by ANSYS. Then, vibration responses are found by FFT method for various inputs. The vibration response is the time dependent acceleration signal of the selected output point. The method is verified on a 4-degree-of-system first. The responses found analytically by Laplace transform method, numerically by Newmark method, directly by ANSYS, and using the FFT method are compared. Then, a single link-composite manipulator is modeled in ANSYS, where natural frequencies and the impulse response are found. FFT method is used to find the vibration responses for inputs with various trapezoidal velocity profiles. The calculation time for the transient analysis is 22 h in ANSYS and 1 s for the FFT method. The natural frequencies found by ANSYS and the simulation results for the vibration responses found by the FFT method are compared with the experimental results. It is observed that they are in good agreement. It is noted that the deceleration time of the velocity profile is effective to control vibration. Considering the calculation times, the FFT method can be used to study the vibration control of complex mechanical systems by input shaping.