Single link vibration character assessment of pneumatic cylinder driven robot manipulator

The purpose of this research is to make a prototype of a Flexible Manipulator Robot with a pneumatic cylinder drive, to make vibration experiments, to measure the frequency of the Flexible Manipulator Robot and to validate the results of the analysis with translational motion and experiments. The fl...

Full description

Saved in:
Bibliographic Details
Published in:AIP conference proceedings 2022-11, Vol.2543 (1)
Main Authors: Gamsir, Laode Abdul, Djafar, Zulkifli, Abbas, Hammada
Format: Article
Language:English
Subjects:
Accelerometers
Aluminum
Cylinders
Experiments
Fast Fourier transformations
Flexible manipulators
Fourier transforms
Free vibration
Metal plates
Robot arms
Robots
Translational motion
Vibration measurement
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The purpose of this research is to make a prototype of a Flexible Manipulator Robot with a pneumatic cylinder drive, to make vibration experiments, to measure the frequency of the Flexible Manipulator Robot and to validate the results of the analysis with translational motion and experiments. The flexible manipulator used in this study consisted of a pneumatic cylinder and an air tube with a capacity of 3 to 6 bars as a translational link drive, aluminum plate as a flexible link manipulator with a size of 35x2.5 cm with a plate thickness of 1.5 mm. Cylinder as a clamp holder from the link and accelerometer ADXL335 as a vibration measurement tool. The method used in data collection is the Fast Fourier Transform (FFT) method which is displayed in the form of a graph of frequency acceleration and time acceleration using spyder (software). Based on the results of the analysis and experiments, the simulation results show the dynamic behavior of the system in free vibration and vibration with the translational motion of the single link manipulator system.
ISSN:0094-243X
1551-7616
DOI:10.1063/5.0095986