Effect of Payload Variation on the Residual Vibration of Flexible Manipulators at the End of a Given Path.

In rest-to-rest motion, the gripper of the flexible manipulators vibrates not only in the duration of the tracking but also after reaching the goal point. this vibration, which is called residual vibration, continues with a specific amplitude and frequency after reaching the goal point. in this paper, the effect of a carried payload on the residual vibration magnitude is investigated. the finite element method is employed for modeling and deriving the dynamic equations of the manipulator with flexible links and joints. compared with previous works, the assumptions of low frequency and small amplitude of vibration about the final configuration are released and all terms in the dynamic equations are taken intoaccount. some simulations for a two-link flexible manipulator along two given paths are then performed for different payloads at the end-effector. in the first state, a polynomial-fourier function is considered forjoint motion and then a linear path for gripper motion. finally, a straightforward approach for predicting the residual vibration amplitude, in terms of the payload, is proposed.