Design and prototype manufacturing of a smart flexible arm based on the wave absorbing principle

Research Project

Project/Area Number	23560273
Research Category	Grant-in-Aid for Scientific Research (C)
Allocation Type	Multi-year Fund
Section	一般
Research Field	Dynamics/Control
Research Institution	Kinki University
Principal Investigator	NISHIGAKI Tsutomu 近畿大学, 生物理工学部, 准教授 (80251643)
Project Period (FY)	2011 – 2013
Project Status	Completed (Fiscal Year 2013)
Budget Amount *help	¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000) Fiscal Year 2013: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000) Fiscal Year 2012: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000) Fiscal Year 2011: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Keywords	圧電フィルム / 波動吸収制御 / 柔軟アーム / スマート構造 / 振動制御
Research Abstract	In this study, a wave absorbing technique, i.e. the technique which cancels the reflection wave at the end point of the flexible thin structure, was investigated using piezoelectric films. At first, a cantilever beam, which can be applied to the flexible rotating arm, was introduced as the controlled structural model. Then, a smart cantilever beam, on which appropriately shaped piezoelectric film sensors and actuators were bonded, was manufactured. Theoretical analysis and experiments were performed and it was shown that vibration control effects will be expected for broad band frequency range including several vibrational modes. Furthermore, vibration control effects in the laboratory experiment showed good agreement with those in the theoretical analysis when the excitation frequencies were low enough. It was also confirmed that it is difficult to apply the proposed method to the flexible rotation arms, since the influence of the inertial force cannot be neglected in the experiments.