Passive Vibration Control of a 2-D Flexible Manipulator Having Combined Rotational and Translational Degrees of Freedom.

This paper deals with the mathematical modeling (by FEM) and experimental analysis of a 2-dimensional single-link flexible manipulator with rotational and translational degrees of freedom. Dynamic response calculated by numerical analysis and verified by experiments revealed that the torque required at the hub and the vibration of the tip to which the pay load is attached can be reduced significantly by the translational movement of the arm due to better distribution of the moment of inertia of the whole system at the time of carrying a pay load from the starting point to the destination point.