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Proceedings Paper

Residual vibration suppression of flexible arms using ER adaptive structures
Author(s): Kexiang Wei; Guang Meng; Huanqing Tang; Yingchun Liu
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Paper Abstract

In the past decades, there have been a number of research activities to control unwanted vibration of flexible robot arms. The electrorheological (ER) adaptive structures, which behave as viscoelastic damping structures with controllable shear modulus, are used to suppress the residual vibrations of the rotating flexible arm in this study. The flexible arm is designed as an ER sandwich structures, in which ER fluids is sandwiched between two elastic surface layers. Experimental tests are conducted. The vibration response performances of the beam subjected to different electric field intensity and motion conditions are demonstrated and evaluated. The experimental results obtained indicate that significant vibration attenuation is achieved at different operating conditions by applying an electric field to the rotating flexible arm.

Paper Details

Date Published: 1 November 2007
PDF: 6 pages
Proc. SPIE 6423, International Conference on Smart Materials and Nanotechnology in Engineering, 64231W (1 November 2007); doi: 10.1117/12.779773
Show Author Affiliations
Kexiang Wei, Hunan Institute of Engineering (China)
Guang Meng, Shanghai Jiao Tong Univ. (China)
Huanqing Tang, Hunan Institute of Engineering (China)
Yingchun Liu, Hunan Institute of Engineering (China)


Published in SPIE Proceedings Vol. 6423:
International Conference on Smart Materials and Nanotechnology in Engineering

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