Mechanical systems with flexible dynamics often suffer from vibration induced by changes in the reference command or from external disturbances. The technique of adding a vibration absorber has proven useful at eliminating vibrations from external disturbances and rotational imbalances. Traditionally, vibration absorbers have been designed for systems subject to sinusoidal or random excitations. Here the applicability of vibration absorbers to systems with steplike changes in the reference command or similar disturbances is studied. This type of motion is more common in robotic applications. Here absorbers are designed using two methods; the first technique uses a weighting on peak overshoot and settling time to allow tradeoffs between the two performance criteria. The second simpler method utilizes an eigenvalue technique to predict the time constant. Both of these techniques provide the possibility of significant improvement in settling time. The performance of this absorber design strategies is compared with previously proposed vibration absorbers and experimental results verify its utility.
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January 2005
Technical Briefs
Design of Vibration Absorbers for Step Motions and Step Disturbances
Joel Fortgang,
Joel Fortgang
Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332
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William Singhose
William Singhose
Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332
Search for other works by this author on:
Joel Fortgang
Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332
William Singhose
Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received November 4, 2003; revised April 27, 2004. Associate Editor: J. S. Rastegar.
J. Mech. Des. Jan 2005, 127(1): 160-163 (4 pages)
Published Online: March 2, 2005
Article history
Received:
November 4, 2003
Revised:
April 27, 2004
Online:
March 2, 2005
Citation
Fortgang , J., and Singhose , W. (March 2, 2005). "Design of Vibration Absorbers for Step Motions and Step Disturbances ." ASME. J. Mech. Des. January 2005; 127(1): 160–163. https://doi.org/10.1115/1.1825441
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