Design and prototype manufacturing of a smart flexible arm based on the wave absorbing principle

在本研究中，利用压电薄膜研究了一种吸波技术，即消除柔性薄膜结构端点处反射波的技术。首先，引入可应用于柔性旋转臂的悬臂梁作为受控结构模型。然后，制作了一个智能悬臂梁，在其上粘贴了形状合适的压电薄膜传感器和执行器。理论分析和实验结果表明，在包括多种振型在内的宽频带范围内，振动控制效果良好。此外，在激励频率足够低的情况下，实验室实验的减振效果与理论分析结果吻合较好。在实验中，惯性力的影响是不可忽略的，因此将该方法应用于柔性旋转臂也是困难的。

In this study, a wave absorbing technique, i.e. the technique which cancels the reflection wave at the end point of the flexible thin structure, was investigated using piezoelectric films. At first, a cantilever beam, which can be applied to the flexible rotating arm, was introduced as the controlled structural model. Then, a smart cantilever beam, on which appropriately shaped piezoelectric film sensors and actuators were bonded, was manufactured. Theoretical analysis and experiments were performed and it was shown that vibration control effects will be expected for broad band frequency range including several vibrational modes. Furthermore, vibration control effects in the laboratory experiment showed good agreement with those in the theoretical analysis when the excitation frequencies were low enough. It was also confirmed that it is difficult to apply the proposed method to the flexible rotation arms, since the influence of the inertial force cannot be neglected in the experiments.