Active Vibration Control of the Cantilever Beam Using a Manipulator

Vibration causes frequent deformations of the cantilever beams, which can easily destroy the beam structure if without protection. Active vibration control with feedback information of the cantilever is widely studied in previous works to suppress the vibrations of small deformations. But it is not applicable to the cantilever with large deformation and no feedbacks. Besides, they all require the cantilever to be observable but do nothing about unobservable cantilevers. In this paper, the vibration of a cantilever with large deformations is suppressed by using a 3-DOF manipulator. The structural dynamic model of the cantilever is established to estimate the deformation without external sensors installed on the cantilever. Based on the dynamic model, the vibration control strategy is proposed. Experiments on a developed cantilever and manipulator are conducted and validate the effectiveness of the proposed methods. The results show that the vibration bending moment of the cantilever beam can be effectively suppressed, thus the service life of the equipment can be effectively prolonged by active vibration control of the cantilever beam.