Study on Vibration Analyze and Control of Continuum Robot

In recent year, the continuum robot is focused on because of its flexibility and adapt. However, the free-end vibration is a critical factor which hinder the operation stability of continuum robot. The complexity of free end vibration is main origin from the flexible structure. Hence, the vibration dynamic model is difficult to establish as an accurate solution. This paper presented a novel method for analyzing the free end vibration state of the continuum robot, and proposed the corresponding control strategy. Firstly, the prototype is built and the kinematics is established for driving the continuum robot. Secondly, the feed-back system is set up by using an acceleration sensor for acquiring the real-time acceleration date. Further, the vibration characteristic parameters of the continuum robot are calibrated based on the identification method, by which to obtain the first-order damped natural frequency and attenuation coefficient of the continuum robot under different posture. Then, the vibration function of free end is solved depend on the first-order damped natural frequency and attenuation coefficient parameters. Finally, the residual vibration of free-end is effectively attenuated by the theoretical vibration mode.