Nonlinear vibration control for flexible manipulator using 1: 1 internal resonance absorber

摘要

The main task of this paper is to put forward a vibration absorption method for attenuating nonlinear vibration of the flexible manipulator based on modal interaction. A vibration absorber is suggested to establish the 1:1 internal resonance state with the flexible manipulator, thereby transferring the vibration energy from the flexible manipulator to the vibration absorber. In the presence of damping, the vibration energy of the flexible manipulator can be effectively dissipated by the vibration absorber. Since this method puts an emphasis on constructing an internal energy transfer channel between the flexible manipulator and the vibration absorber rather than directly responding to external excitations, it is particularly convenient to reduce nonlinear vibration induced by unknown external excitations. Numerical simulations and virtual prototyping simulations have verified this method’s feasibility.