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%2F20%3A00339267" target="_blank" >RIV/68407700:21220/20:00339267 - isvavai.cz</a>

Výsledek na webu

<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>

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 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.

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 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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

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

2020

Kód důvěrnosti údajů

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

Název periodika

Journal of Vibration and Control

ISSN

1077-5463

e-ISSN

1741-2986

Svazek periodika

26

Číslo periodika v rámci svazku

13-14

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

12

Strana od-do

1145-1156

Kód UT WoS článku

000525111100001

EID výsledku v databázi Scopus

2-s2.0-85082943511