{"title":"SCARA机械臂振动分析与被动控制","authors":"Zhi Tang, Yingxuan Pan, Zhi Cheng","doi":"10.1145/3366194.3366210","DOIUrl":null,"url":null,"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.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Vibration analysis and passive control of SCARA robot arm\",\"authors\":\"Zhi Tang, Yingxuan Pan, Zhi Cheng\",\"doi\":\"10.1145/3366194.3366210\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":105852,\"journal\":{\"name\":\"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-09-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1145/3366194.3366210\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3366194.3366210","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Vibration analysis and passive control of SCARA robot arm
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.