Analysis and optimization of vibration Of 2-DOF manipulator

An experimental setup has been developed for analysis and optimization of vibration of robotic manipulator. A three link experimental robot manipulator was designed and based on the developed CAD model a physical prototype was prepared using thermosetting plastic material in 3D printing route. The end effecter position of 2-DOF serial link manipulator is controlled by PC through the microcontroller and vibrations were measured. Sensor data was collected for several run of the manipulator and then optimized for upward and downward throw of end effecter.