Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables

This paper introduces the dynamic modelling of a single-link flexible manipulator with two cables. The end-effector is attached at distal end link and tensed cables are used to suppress vibration. considered as an Euler-Bernoulli beam cable massless spring. By applying Hamilton's principle, set nonlinear equations motion derived boundary constraints. A calculation method proposed determine natural frequency Simulation experiments performed validate effectiveness method. Three non-dimensional parameters introduced investigate effects on system. An experimental verification implemented actual frequencies found be in good agreement both ones based model obtained simulations. results show that vibration greatly suppressed by utilizing flexible-link manipulator, which demonstrates lightweight system has potential employed fields fast industrial manipulators, robotic arms for remote manipulation space bio-inspired engineering.