五自由度长臂机械臂振动分析

IF 1.9 Q3 ENGINEERING, MECHANICAL
Vibration Pub Date : 2022-09-03 DOI:10.3390/vibration5030034
H. Badkoobehhezaveh, R. Fotouhi, Qianwei Zhang, D. Bitner
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引用次数: 3

摘要

本文采用有限元分析和实验相结合的方法,研究了一种新型农用5自由度(5-DOF)长臂机械臂的动力和振动特性。新的机械手被设计得足够轻和紧凑,可以安装在小型车辆上用于农业应用。利用商业有限元分析软件建立了该机械手的有限元模型。对机械手的两种不同构型(全伸直和垂直半伸直)进行了有限元分析。完全伸展的配置提供了最长的手臂,是农场应用中最常用的姿势之一;这种结构的振动高度受其基底激励的影响。有限元分析结果表明,两种构型的机械臂前6个固有频率在4.4 ~ 41.6 (Hz)之间。利用试验模态分析对全扩展构型进行了模态分析,验证了有限元结果。在实验中,利用传感器获取加速度数据,并使用快速傅里叶变换进行后处理。采用有限元法和实验方法得到了前六个固有频率及其对应的振型,并对结果进行了比较;比较结果吻合较好,差异小于10%。我们验证的有限元模型为未来新开发的机械臂在不同应用场合的振动控制提供了可靠的依据。采用实验修正的有限元模型进行了谐波响应模拟;这提供了一个很好的理解新开发的手臂在基础激励下的动态行为。本文提出了一种基于基础激励的大型农用机械臂的实验修正有限元模型。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Vibration Analysis of a 5-DOF Long-Reach Robotic Arm
In this paper, dynamic and vibration characteristics of a newly developed 5-degrees-of-freedom (5-DOF) long-reach robotic arm for farm applications is studied through finite element analysis (FEA), as well as experimentally. The new manipulator is designed to be light and compact enough that it can be mounted on a small vehicle for farm applications. A finite element model of this novel manipulator was established using a commercial FEA software. FEA was carried out for two different configurations of the manipulator (fully-extended and vertical half-extended). The fully-extended configuration provides the longest reach of the arm and is one of the most commonly used poses in farm applications; vibrations of this configuration are highly affected by its base excitation. The FEA results indicated that the first six natural frequencies of the manipulator for the two configurations considered were between 4.4 to 41.6 (Hz). Modal analysis on the fully-extended configuration was completed using experimental modal analysis to verify the finite element results. In the experiments, acceleration data were obtained utilizing sensors, and were post-processed using Fast-Fourier Transforms. The first six natural frequencies and their corresponding mode shapes were obtained using FEA and also experimentally, and the results were compared; the comparison showed good agreement, with less than 10% difference. Our verified FE model provides a reliable basis for future vibration control for the newly developed robotic arm for different applications. A harmonic response simulation was also carried out using an experimentally corrected FE model; this provides a good understanding of the dynamic behavior of the newly developed arm under base excitation. This paper offers an experimentally corrected FEA model for a large manipulator with base excitation for farm applications.
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来源期刊
CiteScore
3.20
自引率
0.00%
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