Reduction of Tip Vibration of a 2-D Flexible Manipulator

Abstract

This article deals with the mathematical modeling by finite element analysis and ex perimental verification of a 2-D single link flexible manipulator with rotational and translational degrees of freedom. Dynamic response, calculated by numerical analysis and verified by expen ments, revealed that the rotational torque at the hub and the vibration of the tip to which the payload is attached can be reduced significantly by the translational movement of the arm. This is a result of better distribution of the moment of inertia of the whole system while carrying a payload from the starting point to the destination point.