Experimental Validation of Hybrid Polymer Composite Material Robotic Single Link Flexible Manipulator
Ramalingam S1, Rasool Mohideen S2, Sounder Rajan S3, Sridhar P S4
1Ramalingam S*, Research scholar, BSAR Crescent Institute of science and Technology, Chennai, India.
2Rasool Mohideen S, Professor, BSAR Crescent Institute of science and Technology, Chennai, India.
3Srinivasan Sounder Rajan, Professor, Marine Engineering, AMET university, Chennai, India. Sridhar P S, professor, Marine Engineering, AMET university, Chennai, India
Manuscript received on December 17, 2019. | Revised Manuscript received on December 26, 2019. | Manuscript published on January 10, 2020. | PP: 488-494 | Volume-9 Issue-3, January 2020. | Retrieval Number: C8461019320/2020©BEIESP | DOI: 10.35940/ijitee.C8461.019320
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: 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.
Keywords: Motor Servo MG995, Terminal Board, Power Module, Accelerometer, Strain Guage, Flexible Link.
Scope of the Article: Composite Materials