Vibration Drives with Two Impacting Pairs for Precise Robots

IF 0.6 4区 工程技术 Q4 MECHANICS Mechanika Pub Date : 2023-04-19 DOI:10.5755/j02.mech.32277
K. Ragulskis, L. Ragulskis
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Abstract

Such robots, when they consist of two separate sequentially connected robots, are of high precision. The first part – robot is not of a high precision adjusted to perform comparatively large displacements, while the second part – robot is meant to perform comparatively small displacements with very high precision if compared with the first part. Motors of all the motions are of vibrational type. First of all, vibrators of vibrational impact type with impacts of rigid bodies are investigated. Earlier it was shown that in some types of nonlinear systems between the hard and soft zones of excitation of vibrations optimal regimes according to the shape of motion exist. Here this fact is generalized for the vibrator with two symmetric impacting pairs of elements. According to the model of the system free vibrations of the system and their parameters are determined as well as forced harmonic vibrations and their specific features are determined. Recommendations for practical applications are provided.
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精密机器人双冲击副振动传动
这样的机器人,当它们由两个独立的顺序连接的机器人组成时,具有高精度。第一部分-机器人的精度不高,调整后可以执行相对较大的位移,而第二部分-机器人与第一部分相比,可以执行相对较小的位移,精度非常高。所有运动的电动机都是振动型的。首先,研究了具有刚体冲击的振动冲击型振子。早期的研究表明,在某些类型的非线性系统中,在振动的硬激励区和软激励区之间存在根据运动形状的最佳状态。这里,这一事实被推广到具有两对对称碰撞单元的振动器。根据系统模型,确定了系统的自由振动及其参数,并确定了强迫谐波振动及其特性。提供了实际应用的建议。
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来源期刊
Mechanika
Mechanika 物理-力学
CiteScore
1.30
自引率
0.00%
发文量
50
审稿时长
3 months
期刊介绍: The journal is publishing scientific papers dealing with the following problems: Mechanics of Solid Bodies; Mechanics of Fluids and Gases; Dynamics of Mechanical Systems; Design and Optimization of Mechanical Systems; Mechanical Technologies.
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