Vibration characterization of a planar multi-degree-of-freedom industrial machine

被引：0
|
作者：
Wang, Jingxuan [1 ]
Mo, Senkai [1 ]
Yao, Guo [1 ,2 ,3 ]
机构：
[1] Northeastern Univ, Sch Mech Engn & Automat, Shenyang 230613, Peoples R China
[2] Harbin Inst Technol, Sch Astronaut, Harbin 150001, Peoples R China
[3] Northeastern Univ, Shenyang, Peoples R China
来源：
INTERNATIONAL JOURNAL OF NON-LINEAR MECHANICS | 2024年 / 160卷
关键词：
Multi body dynamic modeling; Amplitude frequency response; Nonlinear vibration; Robot arm; ROBOT; MANIPULATOR; DESIGN;
D O I：
10.1016/j.ijnonlinmec.2024.104657
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
This paper analyzes the dynamic character of a planar multi-degree-of-freedom industrial machine using an industrial robot as a reference model. A nonlinear dynamics model of a multi-body structure including the end effector, base and the manipulator is established using the Lagrange's principle. The validity was verified by ADAMS simulation with the established dynamic model. Focusing on the low-frequency region, the influence of the robot assembly parameters on the vertical vibration response of the body is discussed. Based on the data summary, some optimization recommendations are made. The results of this paper may contribute to the design of vibration isolation for such robotic arm structures.
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页数：11
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