Vibration Control Strategy Of Flexible Manipulators Based On PZT Patches

Flexible manipulators have been widely used because of its light weight, low power consumption and high efficiency. However, unwanted vibration appears during the operation of flexible manipulators. So it is difficult to improve the performance of flexible manipulators without efficient vibration control. The vibration control methods include passive control and active control. Active control has more feasibility and roburst compare to passive control.A theoretical model of single freedom flexible manipulator with PZT sensors and PZT actuators was set up based on the elasticity theory. The number and Positions of PZT patches were optimized based on the theoretical model. The transfer functions were obtained to illustrate the relationships of the tip displacement, sensor voltage and actuator voltage. The simulation was carried out in COMSOL and the experiment platform based on the NI virtual instrument was set up.According to the result of simulation and experiment, a conclusion was proposed:The vibration of a flexible beam got an obvious suppression with active control based on PZT patches. This method is suitable for resonance, non-resonance and random vibration, and vibration suppression can get 82.65% and 80.72%. This work provided a method for vibration control of flexible manipulators in different frequencies.