Dynamic analysis of a flexible manipulator with passive constrained layer damping

J. Q. Zou, E. H.K. Fung, Heung Wing Joseph Lee

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)

Abstract

This paper studies the vibration behavior of a flexible manipulator with passive constrained layer damping (PCLD) treatment. The manipulator rotates in a vertical plane and carries an end mass. Due to the highly nonlinear and coupled characteristics of the beam with PCLD treatment, "relative description" method is used to define the motions of the manipulator system. Using Lagrange's equation and Rayleigh-Ritz method, the dynamic model of the manipulator is obtained and its vibration response is analyzed in the time domain. By assuming finite element shape functions as the displacement shape functions and using the complex damping model for the visco-elastic material (VEM) layer, the number of degrees of freedom of the system or the model dimension is greatly reduced. Numerical simulations show that the VEM not only reduces the amplitude of the elastic deflection but also quickly attenuates the vibration to zero. Also, it is confirmed that the geometry and physical properties of the PCLD treatment have significant effects on the dynamic response of the manipulator.
Original languageEnglish
Title of host publicationAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages497-503
Number of pages7
DOIs
Publication statusPublished - 1 Jan 2003
Event2003 ASME International Mechanical Engineering Congress - Washington, DC., United States
Duration: 15 Nov 200321 Nov 2003

Conference

Conference2003 ASME International Mechanical Engineering Congress
Country/TerritoryUnited States
CityWashington, DC.
Period15/11/0321/11/03

ASJC Scopus subject areas

  • Mechanical Engineering
  • Software

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