Research on Vibration Control of Manipulator Using Particle Damper

Particle damping technology is a widely used passive vibration control method known for its simplicity and efficiency in engineering applications. This study applies a Particle Damper (PD) to reduce low-frequency vibrations in a manipulator. A novel coupled dynamic model of the PD and manipulator is developed, considering the impact of low-frequency vibrations. To address the challenges posed by the nonlinear behavior of particles, Discrete Element Method (DEM) simulations using EDEM software are performed to investigate the effects of key factors, such as particle packing density, diameter, and material composition, on energy dissipation. The simulation results are validated through experiments, with the manipulator serving as the controlled object to assess the PD’s control performance. The PD design is further refined by incorporating multi-layer baffles, which enhance energy dissipation and improve the suppression of vibrations. The results demonstrate that the optimized PD system effectively reduces the manipulator’s low-frequency vibration response. By integrating simulations, experimental validation, and structural optimization, this study provides deeper insights into particle damping mechanisms and offers innovative solutions for vibration control in manipulators and similar engineering systems.