vibration measurement of a flexible link

[sanjay219]

sir,
I created a two link flexible manipulator in V-rep for my project. Now I want to measure the vibrations of that two links.

1)Can you please tell me is it possible to measure the vibrations generated in the flexible links? And, how can i measure this?

2)Is it possible to measure the vibrations generated in the flexible links using available sensors in V-rep? If yes, how?

[coppelia]

Hello,

if you have e.g. a flexible beam emulated via two rigid beams linked together via a revolute joint in spring mode, then you can read the position of the joint: that will give you an idea of the vibration. Be aware that high-frequency vibrations can't be simulated effectively via those physics engines.

Code: Select all

function sysCall_init()
    handle=sim.getObjectHandle('myJointName')
end

function sysCall_sensing()
    local v=sim.getJointPosition(handle)
    print(string.format("Joint angle is %.1f[deg] at simulation time %i[ms]",v*180/math.pi,sim.getSimulationTime()*1000))
end

Cheers