Mode and vibration characteristics of a flexible manipulator with elastic restraint joint

To construct a precise model for investigating the dynamic characteristics and vibration control strategies of flexible manipulators, restraints of the joint should be fully considered and precisely described. Considering the effect of the elastic restraints of the joint, this paper investigated the mode and vibration characteristics of a flexible manipulator with elastic restraint joint (FMERJ). The elastic restraint model and boundary conditions of the FMERJ were established. With the boundary conditions, natural frequency equation and mode shapes of the FMERJ were derived. Subsequently, vibration responses of the FMERJ were obtained. Numerical results demonstrated that the mode and vibration characteristics of the FMERJ are obviously different from that of flexible manipulator with fixed restraint joint (FMFRJ) which was commonly idealized in present research, and the elastic restraints of the joint have a considerable effect on the dynamic characteristics and should be considered in precise dynamic analysis and further constructing vibration control strategies of the flexible manipulator

Tip position control of single flexible manipulators based on LQR with the Mamdani model

Flexible manipulators have been actively used in various fields, such as aerospace, industry and medical treatment. It remains that the tip of the flexible manipulator should accurately trail the target trajectory without vibration. This paper proposes a novel method of the tip position control of a single flexible manipulator based on LQR with the Mamdani model. Firstly, using the assumed mode method and the Lagrange equations, the dynamic model of the single flexible manipulator is established. Then, the state equations are derived by the dynamic model. Based on the Mamdani model, the fuzzy algorithm is added to the traditional LQR control, and the self-adaptive adjustment of the LQR control variable R is conducted, which improves the adaptability of the control system. Finally, numerical simulations and experiments are presented. The results demonstrate that the novel control method presented in this paper can rapidly achieve the location in the position control and effectively suppress the elastic vibration of the single flexible manipulator, which has more considerable effect compared with the traditional LQR control method

Vibration observation for a translational flexible-link manipulator based on improved Luenberger observer

The residual vibration is a very universal problem in flexible manipulators which are widely used in robot technology. This paper focuses on the soft measurement of the vibration signals for a translational flexible-link manipulator (TFLM) system. A vibration observer based on the improved Luenberger observer, which only requires the practical measurement values of the boundary positions, is designed to obtain the vibration signals of the TFLM. The main contribution of the vibration observer is its ability to simplify system structure and get the vibration signals of any point of the TFLM which is unrealistic by infinite sensors in practice. Furthermore, the improved part of the Luenberger observer is the added feedback coefficients for the tip vibration signals which can correct the observed mode and reduce the observation error markedly. And according to the stable conditions of observer, the added feedback coefficients are designed by Lyapunov technique and multiple population genetic algorithms (MPGA). Finally, the efficiency of the designed vibration observer is verified by combined-simulation

Pulsed eddy current non-destructive testing and evaluation: A review

Pulsed eddy current (PEC) non-destructive testing and evaluation (NDT&E) has been around for some time and it is still attracting extensive attention from researchers around the globe, which can be witnessed through the reports reviewed in this paper. Thanks to its richness of spectral components, various applications of this technique have been proposed and reported in the literature covering both structural integrity inspection and material characterization in various industrial sectors. To support its development and for better understanding of the phenomena around the transient induced eddy currents, attempts for its modelling both analytically and numerically have been made by researchers around the world. This review is an attempt to capture the state-of-the-art development and applications of PEC, especially in the last 15 years and it is not intended to be exhaustive. Future challenges and opportunities for PEC NDT&E are also presented

Enhanced Measurement of Paper Basis Weight Using Phase Shift in Terahertz Time-Domain Spectroscopy

THz time-domain spectroscopy has evolved as a noncontact, safe, and efficient technique for paper characterization. Our previous work adopted peak amplitude and delay time as features to determine paper basis weight using terahertz time-domain spectroscopy. However, peak amplitude and delay time tend to suffer from noises, resulting in degradation of accuracy and robustness. This paper proposes a noise-robust phase-shift based method to enhance measurements of paper basis weight. Based on Fresnel Formulae, the physical relationship between phase shift and paper basis weight is formulated theoretically neglecting multiple reflections in the case of normal incidence. The established formulation indicates that phase shift correlates linearly with paper basis weight intrinsically. Subsequently, paper sheets were stacked to fabricate the samples with different basis weights, and experimental results verified the developed mathematical formulation. Moreover, a comparison was made between phase shift, peak amplitude, and delay time with respect to linearity, accuracy, and noise robustness. The results show that phase shift is superior to the others

Mode and vibration characteristics of a flexible manipulator with elastic restraint joint

To construct a precise model for investigating the dynamic characteristics and vibration control strategies of flexible manipulators, restraints of the joint should be fully considered and precisely described. Considering the effect of the elastic restraints of the joint, this paper investigated the mode and vibration characteristics of a flexible manipulator with elastic restraint joint (FMERJ). The elastic restraint model and boundary conditions of the FMERJ were established. With the boundary conditions, natural frequency equation and mode shapes of the FMERJ were derived. Subsequently, vibration responses of the FMERJ were obtained. Numerical results demonstrated that the mode and vibration characteristics of the FMERJ are obviously different from that of flexible manipulator with fixed restraint joint (FMFRJ) which was commonly idealized in present research, and the elastic restraints of the joint have a considerable effect on the dynamic characteristics and should be considered in precise dynamic analysis and further constructing vibration control strategies of the flexible manipulator

Vibration observation for a translational flexible-link manipulator based on improved Luenberger observer

The residual vibration is a very universal problem in flexible manipulators which are widely used in robot technology. This paper focuses on the soft measurement of the vibration signals for a translational flexible-link manipulator (TFLM) system. A vibration observer based on the improved Luenberger observer, which only requires the practical measurement values of the boundary positions, is designed to obtain the vibration signals of the TFLM. The main contribution of the vibration observer is its ability to simplify system structure and get the vibration signals of any point of the TFLM which is unrealistic by infinite sensors in practice. Furthermore, the improved part of the Luenberger observer is the added feedback coefficients for the tip vibration signals which can correct the observed mode and reduce the observation error markedly. And according to the stable conditions of observer, the added feedback coefficients are designed by Lyapunov technique and multiple population genetic algorithms (MPGA). Finally, the efficiency of the designed vibration observer is verified by combined-simulation

Frequency Optimization for Enhancement of Surface Defect Classification Using the Eddy Current Technique

Eddy current testing is quite a popular non-contact and cost-effective method for nondestructive evaluation of product quality and structural integrity. Excitation frequency is one of the key performance factors for defect characterization. In the literature, there are many interesting papers dealing with wide spectral content and optimal frequency in terms of detection sensitivity. However, research activity on frequency optimization with respect to characterization performances is lacking. In this paper, an investigation into optimum excitation frequency has been conducted to enhance surface defect classification performance. The influences of excitation frequency for a group of defects were revealed in terms of detection sensitivity, contrast between defect features, and classification accuracy using kernel principal component analysis (KPCA) and a support vector machine (SVM). It is observed that probe signals are the most sensitive on the whole for a group of defects when excitation frequency is set near the frequency at which maximum probe signals are retrieved for the largest defect. After the use of KPCA, the margins between the defect features are optimum from the perspective of the SVM, which adopts optimal hyperplanes for structure risk minimization. As a result, the best classification accuracy is obtained. The main contribution is that the influences of excitation frequency on defect characterization are interpreted, and experiment-based procedures are proposed to determine the optimal excitation frequency for a group of defects rather than a single defect with respect to optimal characterization performances