MECHATRONIC ROBOT ARM WITH ACTIVE VIBRATION ABSORBERS

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F20%3A00339267" target="_blank" >RIV/68407700:21220/20:00339267 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1177/1077546320918488" target="_blank" >https://doi.org/10.1177/1077546320918488</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1177/1077546320918488" target="_blank" >10.1177/1077546320918488</a>

Result language

angličtina

Original language name

MECHATRONIC ROBOT ARM WITH ACTIVE VIBRATION ABSORBERS

Original language description

The serial robots are typically able to cover large workspace, but their mass/stiffness ratio does not allow to combine high accuracy and high dynamic of the end-effector operations. Widely spread usage of serial robots, even for tasks as drilling, leads to high accuracy demands through its workspace. Absolute measurement of the end-point for position feedback can be challenging due to objects or even workpiece in workspace, but mainly, inbuild motors of the serial robot cannot response in frequency range high enough as vibration of the end-point is. Instead, additional spring-mass system is attached to the robot to suppress vibrations. Narrow frequency range of passive dynamical absorber can be extended with active elements between robot and absorber, which is also necessary due to robots eigenfrequencies and eigenmodes variability. The paper deals with planar flexible robot equipped with 3 degrees of freedom planar active absorber. The absorber is tuned passively to one value of multiple eigenfrequency. As an active absorber control algorithm, the LQR control with state observer has been designed. Feedback inputs are absorber body acceleration, end-effector acceleration and relative motions in three absorber actuators realized by voice-coils. The end-effector vibration suppression along robot trajectory is achieved using gain scheduling of local controllers outputs.

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20302 - Applied mechanics

Project

<a href="/en/project/GA17-20943S" target="_blank" >GA17-20943S: Active multidimensional vibration absorbers for complex mechanical structures based on delayed resonator method</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2020

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Journal of Vibration and Control

ISSN

1077-5463

e-ISSN

1741-2986

Volume of the periodical

26

Issue of the periodical within the volume

13-14

Country of publishing house

GB - UNITED KINGDOM

Number of pages

12

Pages from-to

1145-1156

UT code for WoS article

000525111100001

EID of the result in the Scopus database

2-s2.0-85082943511