Segmented active constrained layer damping treatments

Active vibration control of flexible robotic arms is important for improving their overall accuracy and efficiency. The objective of this research is to demonstrate the feasibility of applying the concept of Active Constrained Layer Damping treatment to reduce the level of vibration in flexible robotic arms. The active damping treatment under consideration consists of a viscoelastic layer sandwiched between two piezoelectric layers. Shear deformation of the viscoelastic layer causes energy loss and thus vibration damping. Analytical and numerical approaches to obtain the equation of motion for a beam treated with active constrained layer damping treatment will be presented. Experimental results for slender beams partially treated with active constrained layer damping treatment are demonstrated. Slender beams are used because this research is focused on controlling vibrations of flexible robotic manipulator arms with low natural frequencies. Comparison is made between the performance of active and passive treatments. Also, the effect of constraining layer segmentation is analyzed. The presented results demonstrate excellent performance of segmented active constrained layer treatments for low frequency vibration attenuation.