{"title":"机械手配置对振动效应的影响","authors":"Paulina Pietruś, P. Gierlak","doi":"10.2478/ama-2023-0060","DOIUrl":null,"url":null,"abstract":"Abstract Vibration analysis of industrial robots is one of the key issues in the context of robotisation of machining processes. Low-frequency vibrations result from flexibility in manipulator joints. Within the scope of the article, a model of a two-link robot manipulator was built. Dynamic equations of motion were formulated to study the influence of the robot arm configuration on vibration effects. Based on numerical simulations, the frequency spectrum of vibrations of the robot’s links was determined, and tests were carried out in a number of configurations, obtaining a map of resonant frequencies depending on the configuration of the manipulator. Experimental studies were then carried out, which confirmed the conclusions from the simulation studies. The results obtained confirm that the positioning of the manipulator’s links has a significant effect on vibration effects. Tests conducted using a vision system with a motion amplification application made it easier to interpret the results. The formulated mathematical model of the manipulator generates results that coincide with the results of experimental studies.","PeriodicalId":1,"journal":{"name":"Accounts of Chemical Research","volume":null,"pages":null},"PeriodicalIF":16.4000,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Influence of the Manipulator Configuration on Vibration Effects\",\"authors\":\"Paulina Pietruś, P. Gierlak\",\"doi\":\"10.2478/ama-2023-0060\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Abstract Vibration analysis of industrial robots is one of the key issues in the context of robotisation of machining processes. Low-frequency vibrations result from flexibility in manipulator joints. Within the scope of the article, a model of a two-link robot manipulator was built. Dynamic equations of motion were formulated to study the influence of the robot arm configuration on vibration effects. Based on numerical simulations, the frequency spectrum of vibrations of the robot’s links was determined, and tests were carried out in a number of configurations, obtaining a map of resonant frequencies depending on the configuration of the manipulator. Experimental studies were then carried out, which confirmed the conclusions from the simulation studies. The results obtained confirm that the positioning of the manipulator’s links has a significant effect on vibration effects. Tests conducted using a vision system with a motion amplification application made it easier to interpret the results. The formulated mathematical model of the manipulator generates results that coincide with the results of experimental studies.\",\"PeriodicalId\":1,\"journal\":{\"name\":\"Accounts of Chemical Research\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":16.4000,\"publicationDate\":\"2023-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Accounts of Chemical Research\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.2478/ama-2023-0060\",\"RegionNum\":1,\"RegionCategory\":\"化学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"CHEMISTRY, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Accounts of Chemical Research","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.2478/ama-2023-0060","RegionNum":1,"RegionCategory":"化学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CHEMISTRY, MULTIDISCIPLINARY","Score":null,"Total":0}
Influence of the Manipulator Configuration on Vibration Effects
Abstract Vibration analysis of industrial robots is one of the key issues in the context of robotisation of machining processes. Low-frequency vibrations result from flexibility in manipulator joints. Within the scope of the article, a model of a two-link robot manipulator was built. Dynamic equations of motion were formulated to study the influence of the robot arm configuration on vibration effects. Based on numerical simulations, the frequency spectrum of vibrations of the robot’s links was determined, and tests were carried out in a number of configurations, obtaining a map of resonant frequencies depending on the configuration of the manipulator. Experimental studies were then carried out, which confirmed the conclusions from the simulation studies. The results obtained confirm that the positioning of the manipulator’s links has a significant effect on vibration effects. Tests conducted using a vision system with a motion amplification application made it easier to interpret the results. The formulated mathematical model of the manipulator generates results that coincide with the results of experimental studies.
期刊介绍：
Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance.
Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.
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