Mechatronic robot arm with active vibration absorbers

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F19%3A00348525" target="_blank" >RIV/68407700:21220/19:00348525 - isvavai.cz</a>

Výsledek na webu

<a href="https://congress.cimne.com/smart2019/frontal/doc/EbookSMART2019.pdf" target="_blank" >https://congress.cimne.com/smart2019/frontal/doc/EbookSMART2019.pdf</a>

DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Mechatronic robot arm with active vibration absorbers

Popis výsledku v původním jazyce

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 eigenvalues variability. As feedback input, for more robustness, relative sensing is considered, such as accelerometers or geophones for velocity. As an active absorber control algorithm, firstly, the LQR control with state observer has been designed. Finally, the prepared experimental demonstrators are presented.

Název v anglickém jazyce

Mechatronic robot arm with active vibration absorbers

Popis výsledku anglicky

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 eigenvalues variability. As feedback input, for more robustness, relative sensing is considered, such as accelerometers or geophones for velocity. As an active absorber control algorithm, firstly, the LQR control with state observer has been designed. Finally, the prepared experimental demonstrators are presented.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20302 - Applied mechanics

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

2019

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of 9th ECCOMAS Thematic Conference on Smart Structures and Materials, SMART 2019

ISBN

978-84-949194-6-6

ISSN

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e-ISSN

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Počet stran výsledku

12

Strana od-do

1456-1467

Název nakladatele

International Center for Numerical Methods in Engineering (CIMNE)

Místo vydání

Barcelona

Místo konání akce

Paris

Datum konání akce

8. 7. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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