Experimental Validation of Hybrid Polymer Composite Material Robotic Single Link Flexible Manipulator

摘要

The prime aim of this research is to conduct an experimental validation for the assessment of behaviour of a hybrid composite material. The hybrid lightweight composite material is used as a robotic link for replacement of rigid and giant manipulators. The combination of fibre material methodically processed and technically merged with epoxy, resulting in hybrid composite material which is used as robotic link movement application and experimentally validated with respect to its functional behavior and cost-effectiveness. In this experimental investigation, composite material is taken as a flexible link for vibration amplitude control analysis and flexible deflection determination using modern control system with various joint stiffness coefficient. The numerical evaluations are conducted for lightweight composite material as an alternate of rigid and solid link. The modelling of composite flexible link is carried out for precision and accuracy on the basis of Lagrange’s equations of motion. The vibration investigation of the system is carried out and reduction of vibration is evaluated using model-based controller in the experiment.