Vibration analysis and passive control of SCARA robot arm

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI:10.1145/3366194.3366210

Zhi Tang, Yingxuan Pan, Zhi Cheng

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引用次数: 2

Abstract

This paper takes the SCARA robot arm as the research object and establishes the three-dimensional model of the SCARA robot arm. The modal analysis is performed by ANSYS software to obtain the vibration characteristics of the SCARA robot arm. This paper analyzes the vibration characteristics of the arm to obtain the weakest part of the arm vibration. In addition, the validity of the modeling results is verified by comparing the experimental results with the modeling results. That is, the base of the SCARA robot arm has the largest deformation in vibration and the maximum amplitude of acceleration changes. Finally, the vibration passive control scheme is proposed for the weakest part of the vibration. We can slightly improve the deformation and amplitude by optimizing the cross-sectional shape of the SCARA robot arm. This study provides more effective theoretical and technical support for the design of the high-precision SCARA manipulator and the dynamic design, vibration and life extension and performance improvement of the SCARA manipulator under variable operating conditions.

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SCARA机械臂振动分析与被动控制

本文以SCARA机械臂为研究对象，建立了SCARA机械臂的三维模型。利用ANSYS软件进行模态分析，得到SCARA机械臂的振动特性。本文对机械臂的振动特性进行了分析，得到了机械臂振动最弱的部分。此外，通过将实验结果与建模结果进行对比，验证了建模结果的有效性。即SCARA机械臂的基座在振动中变形最大，加速度变化幅度最大。最后，针对振动最弱的部分，提出了振动被动控制方案。我们可以通过优化SCARA机械臂的横截面形状来略微改善其变形和振幅。本研究为高精度SCARA机械手的设计以及可变工况下SCARA机械手的动态设计、振动和寿命延长及性能改进提供了更有效的理论和技术支持。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence

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