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S0ingle Link Vibration Character Assessment of Pneumatic Cylinder Driven Robot Manipulator
Gamsir L.A.
Aip Conference Proceedings
Abstract
The purpose of this research is to make a prototype of a Flexible Manipulator Robot with a pneumatic cylinder drive, to make vibration experiments, to measure the frequency of the Flexible Manipulator Robot and to validate the results of the analysis with translational motion and experiments. The flexible manipulator used in this study consisted of a pneumatic cylinder and an air tube with a capacity of 3 to 6 bars as a translational link drive, aluminum plate as a flexible link manipulator with a size of 35x2.5 cm with a plate thickness of 1.5 mm. Cylinder as a clamp holder from the link and accelerometer ADXL335 as a vibration measurement tool. The method used in data collection is the Fast Fourier Transform (FFT) method which is displayed in the form of a graph of frequency acceleration and time acceleration using spyder (software). Based on the results of the analysis and experiments, the simulation results show the dynamic behavior of the system in free vibration and vibration with the translational motion of the single link manipulator system.