Yazarlar
- Uyar, M.(2)
Yayınlar
- MakaleYalnız künye2024Scopus SJRQ2Investigation of Vibration Control Performance with Modified Motion Planning Based on Basic Functions for Composite Robot Manipulators
Uyar, M.
When flexible manipulators complete their movements to the desired position, vibrations occur at the endpoint. Reducing vibrations is an important advantage for eliminating positioning errors and monitoring position accuracy. However, the increase in vibration amplitudes leads to the inability to complete the planned tasks in the applications and results in loss of productivity. Therefore, the reduction of end-effector vibrations is an important research area. In this study, a motion-based control (MBC) method with designed motion profiles is introduced to reduce the endpoint vibrations of epoxy–glass-reinforced composite manipulators. Three different motion profiles, namely Modification-1, Modification-2, and Modification-3, are designed according to time and maximum velocity values depending on the system's frequencies. For the design of Modification-1, variable deceleration and acceleration times are considered, while for Modification-2 and Modification-3, both the maximum angular velocity and the deceleration and acceleration times are utilized. For two different angular positions and motion times, all motion profiles are applied to two composite manipulators with different frequencies, and the results are experimentally and numerically obtained to examine the vibration performance of MBC. Simulation results confirmed with experiments are achieved using mathematical models in ANSYS. To evaluate the effectiveness of MBC, the change in RMS values of endpoint vibration responses and the reduction rates are presented comparatively for all motion profiles. The results show significant advantages for the MBC method, reducing vibrations by approximately 99%, and eliminating positioning errors caused by vibrations.
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İncele - MakaleAçık Erişim2022Scopus SJRQ2Comparison of classical and newly designed motion profiles for motion-based control of flexible composite manipulator
Uyar, M.
The motion profiles defined to move the robot manipulators directly affect the endpoint position accuracy, position repeatability, and vibration control of the manipulators in engineering applications, especially in flexible manipulators. This study deals theoretically and experimentally with the dynamic performance of two different motion profiles in reducing the vibration amplitudes of a single-link flexible composite manipulator. Manipulator is produced from epoxy-glass composite material with a layer orientation of [0/90/0/0/90/0] lay-up. For theoretical studies, the SimMechanics-based flexible dynamic model is created using flexible beam block in MATLAB/Simulink, and the finite element model is established with a layered structural solid element in ANSYS. Two different motion profiles are defined to drive the manipulator for different stopping positions and motion times. Simulations are achieved by using motion profiles. The performance of the motion profiles is evaluated by considering the reduction ratio of residual displacement and acceleration vibrations generated at the endpoint of the manipulator. RMS values of residual vibrations are calculated to determine the rate of residual vibration suppression. Reduction ratios are determined by considering the maximum vibration amplitudes as the reference RMS value. The effectiveness of the motion profiles is presented in comparison with the reduction rates. Simulation results obtained using both displacement and acceleration vibration responses are verified with experiments for all motion cases. Also, the modeling and analysis of the composite manipulator are verified by simulations and experiments with the SimMechanics-based modeling method, and the reliability of the proposed method is increased.
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