Numerical modal and experimental damping investigation of a 3D printed curved single link manipulator with varying thickness

The single link flexible manipulator (SLFM) plays a major role in performing tasks like pick and place of jobs. Understanding its vibrational behavior plays a fundamental role since the job has to be picked and placed precisely. Advancements in 3D printing technology and materials used enhances the versatility of printing the SLFM with complex shape. Despite the usual straight link manipulators reported in literatures the present work focuses in investigating the vibration damping behavior of a curved single link flexible manipulator which is 3D printed using FDM machine and hence revealing new insights into combined influence of curved geometry, reinforced polymers which are 3D printed and structural thickness on the dynamic performance which has been scarcely explored in previous studies. This study aims to investigate the vibration damping characteristics of a curved single link robotic manipulator fabricated by 3D printing using Fused Deposition Modeling (FDM). Poly Lactic Acid (PLA) was used as a base material as it is commercially available biodegradable polymer, and PLA reinforced with Carbon Fibers (wt 20%) was also considered for the study. Along with two different materials, two different thicknesses were designed and analyzed through finite element based modal analysis using ANSYS 2024 workbench. Experimental modal analysis was performed so as to validate the simulated modal frequencies. The results indicate that the geometric parameters particularly thickness affects the damping behavior of the manipulator. The thicker PLA-CF link demonstrated the damping ratio higher by 44.45% comparing it with the thinner one. Additionally, the inclusion of carbon fibers substantially improved energy dissipation capacity over pure PLA configurations, making the composite more suitable for vibration sensitive applications. The present study highlights the prospect of 3D printing using FDM for manufacturing lightweight, high strength and effective cost of robotic manipulators. The findings of the study support the further in depth investigation of damping properties in PLA-CF structures so as to optimize their performance in real world robotic systems.