Inertial Vibration Damping of a Flexible Base Manipulator

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Inertial Vibration Damping of a Flexible Base Manipulator.pdf (621.78 KB)
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George, Lynnane E.
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http://hdl.handle.net/1853/39273
Abstract
A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can make it susceptible to vibration. A rigid manipulator attached to a flexible but unactuated base was used to study a scheme to achieve positioning of the micromanipulator combined with enhanced vibration damping of the base. . The interaction forces and torques acting between the robot and its flexible base were modeled and studied. Simulated and measured interactions generated at the base of a three degree of freedom rigid robot are compared. Simulated and experimental results are included that demonstrate with the proper control of these interactions, damping can be added to the base.
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2003
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