Tip Deflection Control for a Rotating Flexible Link

Somer M. Nacy^1, , Osamah F. Fakhri¹ and Rafal M. Khaleel²

¹Biomedical Engineering, University of Baghdad, Baghdad, Iraq

²Automated Manufacturing Sys, Engineering, University of Baghdad, Baghdad, Iraq

Cite this paper:
Somer M. Nacy, Osamah F. Fakhri and Rafal M. Khaleel. Tip Deflection Control for a Rotating Flexible Link. American Journal of Mechanical Engineering. 2016; 4(4):163-168. doi: 10.12691/ajme-4-4-5

Abstract

The tip deflection control for a rotating flexible link is investigated according to a novel approach. This approach considers the variation of the moment of inertia of the flexible link during rotation, thus reducing the tip deflection due to the generated inertia force. The link mechanism implemented in this study was made of Perspex and it consists of two parts along its length, one is fixed and the other is rotating about an axis normal to the direction of the rotation of the link mechanism. An MMA7631 accelerometer + gyro was used to measure the tip deflection, while the control process was achieved by using MEGA Arduino board. Tests were carried out for three cases of end loads, namely, 0, 27.5, 59.5 gm. Results show that the application of the proposed control system succeeded in reducing the tip deflection as given by the desired value, which was chosen to be 50% and 80% for all the cases of end loads.

Keywords:
flexible manipulator tip deflection control robotics

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