Design and experimental control of an active–flexible tubular manipulator link

This article presents a study on a novel type of flexible links for robotic manipulators. These links incorporate adaptive materials in their construction, with the goal of controlling and attenuating vibrations that may occur during maneuvers due to high mechanical flexibility. The type of link under consideration has a tubular shape and incorporates piezoelectric actuators for simultaneous vibration control of bending and torsion modes. The design study addresses actuator placement and direction and is based on the directional properties of macro-fiber composite actuators. A vibration controller is also successfully designed and implemented. The experimental results validate the link and controller design and the directional actuation approach to vibration control of tubular structures.