Vibration analysis and modelling of light-weight robot arms

• Autorzy: Leniowski Ryszard , Wroński Michał

Identyfikatory

DOI

10.21008/j.0860-6897.2022.2.20

• Języki publikacji: EN

Abstrakty

EN

Lightweight robots (LWR) are a new generation of devices intended to be used not only for industrial tasks but also to perform actions in the human environment. This work presents an analysis of selected basic problems related to the vibration properties of light-weight robot arms. The study of vibration is based on the analysis of the root locus on the plane of complex variables. It turns out that their distribution is non-stationary and depends on the parameters of the model (arm geometry, material parameters), but also depends on the type of realised motion, which is not so obvious. Depending on the manoeuvres conducted (acceleration / deceleration), the system may lose (or increase) its oscillating properties at higher frequencies, as well as introduce a structural (measurable) delay. Recognition of the discussed properties along with their modelling is an important element of the design process of the control system of modern, light-weight robots.

Słowa kluczowe

EN

flexible deformation; vibration analysis; light-weight robots

PL

odkształcenie elastyczne; analiza drgań; lekkie roboty

• Wydawca: Poznan University of Technology. Institute of Applied Mechanics
• Czasopismo: Vibrations in Physical Systems
• Rocznik: 2022
• Tom: Vol. 33, nr 2
• Strony: art. no. 2022220
• Opis fizyczny: Bibliogr. 10 poz., rys. (w tym kolor.), wykr.

Twórcy

autor

Leniowski Ryszard

• Rzeszów University of Technology, al. Powstańców Warszawy 12

autor

Wroński Michał

• Rzeszów University of Technology, al. Powstańców Warszawy 12

• https://orcid.org/0000-0001-6602-5903

Bibliografia

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• 6. P. Arbenz; Lecture Notes on Solving Large Scale Eigenvalue Problems; Computer Science Department ETH Zurich, 2016.
• 7. R. Leniowski, L. Leniowska; The multi-segment controller of a flexible arm; ISR 2020; 52th International Symposium on Robotics, VDE Verlag, 2020, 1-8. ISBN:978-3-8007-5428-1.
• 8. W.J. Book; Recursive Lagrangian dynamics of flexible manipulator arms; Int. Journal of Robotics Research, 1984, 3(3), 87-101.
• 9. S. S. Rao; Vibration of Continuous Systems; John Wiley & Sons, Inc., 2007. ISBN: 978-0-471-77171-5.
• 10. L. Majkut; Free and forced vibration of Timoshenko beams described by single difference equation; Journal of Theoretical and Applied Mechanics, 2009, 47(1), 193-210.

Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).