Active Multidimensional Vibration Absorbers for Light Robots

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F18%3A00329339" target="_blank" >RIV/68407700:21220/18:00329339 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Active Multidimensional Vibration Absorbers for Light Robots

Popis výsledku v původním jazyce

This paper deals with the research of multidimensional vibration absorbing of flexible mechanisms of machines, such as light robots or cable structures. Due to its design, those structures are able to cover large workspaces, but their mass/stiffness ratio does not allow high accuracy of the end-effector, when excited with external force. To damp those vibrations, various passive or active additional mechanical structures are being used. The active vibration absorbers are usually designed as one or more single DoF mechanisms, while multi DoF active platforms are often used as active vibration isolators. The goal is to suppress vibrations of the end-effector using additional single body-spring multi-DoF absorber with active elements, in order to damp vibrations through wide frequency spectrum and in various robot positions, since its dynamical characteristics can vary rapidly through the workspace. Considering three-dimensionality of the structure, there is high complexity of the problem and optimizations. The primary demonstrator of the active 6DOF vibration absorber consists of the regular cubic truss created from six piezoelectric actuators. The voice-coil actuators have been chosen and purchased for further development because of higher flexibility of primary passive tuning of the absorber by parallel springs. The primary demonstrator has been mounted and tested on the cable driven platform, however the main target of the research is seen in the branch of serial robots.

Název v anglickém jazyce

Active Multidimensional Vibration Absorbers for Light Robots

Popis výsledku anglicky

This paper deals with the research of multidimensional vibration absorbing of flexible mechanisms of machines, such as light robots or cable structures. Due to its design, those structures are able to cover large workspaces, but their mass/stiffness ratio does not allow high accuracy of the end-effector, when excited with external force. To damp those vibrations, various passive or active additional mechanical structures are being used. The active vibration absorbers are usually designed as one or more single DoF mechanisms, while multi DoF active platforms are often used as active vibration isolators. The goal is to suppress vibrations of the end-effector using additional single body-spring multi-DoF absorber with active elements, in order to damp vibrations through wide frequency spectrum and in various robot positions, since its dynamical characteristics can vary rapidly through the workspace. Considering three-dimensionality of the structure, there is high complexity of the problem and optimizations. The primary demonstrator of the active 6DOF vibration absorber consists of the regular cubic truss created from six piezoelectric actuators. The voice-coil actuators have been chosen and purchased for further development because of higher flexibility of primary passive tuning of the absorber by parallel springs. The primary demonstrator has been mounted and tested on the cable driven platform, however the main target of the research is seen in the branch of serial robots.

Druh

O - Ostatní výsledky

CEP obor

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OECD FORD obor

20301 - Mechanical engineering

Projekt

<a href="/cs/project/GA17-20943S" target="_blank" >GA17-20943S: Aktivní vícerozměrné hltiče vibrací složitých mechanických konstrukcí založené na metodě zpožděného rezonátoru</a><br>

Návaznosti

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

Rok uplatnění

2018

Kód důvěrnosti údajů

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