Shape optimization of revolute-jointed single link flexible manipulator for vibration suppression

• Four optimization problems are considered for shape optimization of flexible link.
• Different optimization problems have different shapes for different payloads.
• Some optimization problems suppress the vibration effectively.
• Optimized shape for higher payloads improves the dynamic response for lower payloads.
• Mass of the optimized flexible beams is an active constraint.

In this work, the shape optimization of a single link revolute-jointed flexible manipulator is carried out. Manipulator link is considered as a Euler–Bernoulli beam and finite element based on Lagrange approach is employed for dynamic analysis. Sequential quadratic programming (SQP) method is applied to extremize the objective functions. Four different optimization problems are solved for comparative study of the model for vibration suppression.