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Active Vibration Control of a Flexible Link Robot with the use of Piezoelectric Actuators
Last modified: 2017-12-18
Abstract
Within robot systems the use of flexible links could solve many issues raised by their rigid counterparts. Flexible links are lighter, smaller and more easily integrated into certain systems, which are advantages greatly sought after within most applications i.e. space and flight. However, when these flexible links are integrated within systems which include moving parts their main issue lies in the vibrations experienced along their length due to disturbances. Much research effort has been made to solve this issue, with particular attention being paid to the application of piezoelectric patches as actuators to aid the attenuation of these vibrations.
The overall objective to this research is the attenuation of the vibration throughout a beam with the employment of active vibration control (AVC), through the use of piezoelectric actuators (included in the study as though they were bonded onto the surface of the beam). The study will consist of accurate simulations with respect to the dynamics and the piezoelectric physics associated with the problem. The simulation of this problem will include a beam which conforms to Euler-Bernoulli theory which is to be modelled along with the piezoelectric patches, and a robot manipulator to simulate a harmonic disturbance at the root of the beam. A method of controlling the potential difference across the piezoelectric patches as a result of the tip displacement of the beam is to be included in the simulation, acting in a similar manner to a classic PID controller. This will serve as AVC where the actuators induce a strain on the beam to oppose the movement in the tip.
The overall objective to this research is the attenuation of the vibration throughout a beam with the employment of active vibration control (AVC), through the use of piezoelectric actuators (included in the study as though they were bonded onto the surface of the beam). The study will consist of accurate simulations with respect to the dynamics and the piezoelectric physics associated with the problem. The simulation of this problem will include a beam which conforms to Euler-Bernoulli theory which is to be modelled along with the piezoelectric patches, and a robot manipulator to simulate a harmonic disturbance at the root of the beam. A method of controlling the potential difference across the piezoelectric patches as a result of the tip displacement of the beam is to be included in the simulation, acting in a similar manner to a classic PID controller. This will serve as AVC where the actuators induce a strain on the beam to oppose the movement in the tip.