Influence of the Manipulator Configuration on Vibration Effects

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2023-12-01 DOI:10.2478/ama-2023-0060

Paulina Pietruś, P. Gierlak

引用次数: 0

Abstract

Abstract Vibration analysis of industrial robots is one of the key issues in the context of robotisation of machining processes. Low-frequency vibrations result from flexibility in manipulator joints. Within the scope of the article, a model of a two-link robot manipulator was built. Dynamic equations of motion were formulated to study the influence of the robot arm configuration on vibration effects. Based on numerical simulations, the frequency spectrum of vibrations of the robot’s links was determined, and tests were carried out in a number of configurations, obtaining a map of resonant frequencies depending on the configuration of the manipulator. Experimental studies were then carried out, which confirmed the conclusions from the simulation studies. The results obtained confirm that the positioning of the manipulator’s links has a significant effect on vibration effects. Tests conducted using a vision system with a motion amplification application made it easier to interpret the results. The formulated mathematical model of the manipulator generates results that coincide with the results of experimental studies.

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机械手配置对振动效应的影响

摘要工业机器人的振动分析是加工过程机器人化的关键问题之一。低频振动源于机械手关节的柔性。本文建立了一个双连杆机器人机械手模型。为了研究机械臂配置对振动效应的影响，制定了运动动态方程。在数值模拟的基础上，确定了机器人连杆的振动频谱，并在多种配置下进行了测试，获得了取决于机械手配置的共振频率图。随后进行了实验研究，证实了模拟研究的结论。实验结果证实，机械手的链接定位对振动效果有显著影响。使用带有运动放大应用的视觉系统进行的测试更容易解释结果。所建立的机械手数学模型得出的结果与实验研究结果相吻合。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.