Comparison and validation of implementations of a flexible joint multibody dynamics system model for an industrial robot

Abele, Eberhard; Bauer, Jörg; Hemker, Thomas; Laurischkat, R.; Meier, Horst; Reese, Stefanie; Stryk, Oskar von

doi:10.1016/j.cirpj.2011.01.006

Cited by 25 publications

(14 citation statements)

References 2 publications

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“…They used a simplified 2DOF model to study the low frequency mode coupling chatter mechanism in the process and concluded that the self-excited regenerative chatter occurs unlikely in the robotic machining process. Models for projects of roboforming and high-speed cutting have been proposed by [23] to overcome the deviations resulting from the elasticities. They have also improved their model by adding the effect of tilting rigidity of the bearing and link deformations besides the gear stiffness at each joint [24].…”

Section: Introductionmentioning

confidence: 99%

Dynamic model and modal testing for vibration analysis of robotic grinding process with a 6DOF flexible-joint manipulator

Rafieian

Liu

Hazel

2009

2009 International Conference on Mechatronics and Automation

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Robot manipulators play an im portant role in industrial automation. Various aspects of robotic systems were subject of intensive investigations in the past, but the vibration problems in robotic machining processes have been rarely treated in the available literature. In this paper we present dynamic modeling of an ongoing research to study chatter vibration in robotic grinding process using a portable manipulator for rectifying the surfaces of hydro-electric equipments.This special-purpose robot manipulator was developed to automate on-site repairs such as grinding of eroded surfaces, depositing overlay welding and hammer peening. In this study, the structure of robot as the tool holder mechanism of the machining operation is modeled by articulated rigid bodies with flexible joints. The dynamic equations of the 6DOF flexiblejoint manipulator are established using Lagrangian formulation. 1mpulsive grinding forces and periodically perturbed excitations existing in the process are exerted on the model to simulate its response. As an intuitive estimation for joints' stiffness parameters of the model, payload test experiments were performed on the robot. To validate predictions of the dynamic model regarding vibratory behavior, modal testing experiments were performed and measured natural frequencies and mode shapes were compared to their analytical equivalents. Some future trends of the research work are also addressed.

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Section: Introductionmentioning

confidence: 99%

Dynamic model and modal testing for vibration analysis of robotic grinding process with a 6DOF flexible-joint manipulator

Rafieian

Liu

Hazel

2009

2009 International Conference on Mechatronics and Automation

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“…given for the system, where 3 1 r q R × ∈ is the rotor displacement reflected through gear ratios. Then the elastic displacement of link i can be calculated by li…”

Section: Model Of Rlfj Robotmentioning

confidence: 99%

“…One of the most commonly known disadvantages of transmission/reduction element, however, is the existence of mechanical flexibility. The problem of joint flexibility has been recognized as the major source of compliance in most present day robot designs and the presence of joint flexibility has the largest impact on overall positioning accuracy due to the poorly damped vibrations whenever the joint resonant frequencies are excited [2,3]. These vibrations may degrade the performance of the robot system, and even lead to instabilities in some extreme cases.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic modeling and vibration mode analysis for an industrial robot with rigid links and flexible joints

Qiang

Jing

Zeng³

et al. 2012

2012 24th Chinese Control and Decision Conference (CCDC)

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Nowadays, most industrial robots have been designed to be mechanically stiff with rigid link. When a robot with heavy payload is running in fast motions, the residual vibrations of the end-effector are primary caused by joint flexibility. Therefore, the flexibility of joint cannot be neglected. This paper presents a systematic approach to dynamic modeling and residual vibration mode analysis for an industrial robot with rigid links and flexible joints (RLFJ). First, the flexibility of the joint is modeled as a torsional spring and the dynamic equations for this robot are derived by using Lagrange's method. Then, to examine residual vibration properties of the system, numerical simulation is carried out. The following important conclusions are drawn from simulation results: (1) the proposed dynamic model can represent joint flexibility of industrial robot and the joint flexibility causes the residual vibration of the end-effector; (2) for a given RLFJ model, the residual vibration is mainly affected by the payload mass, path of the task and joint stiffness.

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“…The dynamic characteristics of movable components in systems can be investigated. The dynamic path, force and moment are the whole results which achieve by the MBD simulation to improve rigid components of the dynamic system [4], [5].…”

Section: Introductionmentioning

confidence: 99%

Implementation of Multi-Body Dynamics Simulation for the Conveyor Chain Drive System

2017

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Abstract. The conveyor chain drive system which included four sprockets, four flat bars (chain guides) and one conveyor chain had been assembled into commercial software, MSC.ADAMS. The conveyor chain was connected with rollers for running on the chain guides. The multi-body dynamics (MBD) simulation was implemented to study the large displacement of chain components which happened during rotations of the symmetric model of the conveyor chain drive system. The physical experiment had obtained by construction of the conveyor chain drive system regarding the MBD model. The speeds of chain drive were adjusted by a gear motor with a converter. The trajectory of conveyor chain links which respectively meshed and ran on sprockets and chain guides was recorded by a high speed camera. Furthermore, impact-contact forces by a collision of components in the conveyor chain drive system during rotation were analysis. The comparison between MBD simulation and physical experiment of the conveyor chain drive system was performed for validation of simulation models. The MBD simulation results were in good agreement with the experimental data which obtained an average error of 3.95%.

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Comparison and validation of implementations of a flexible joint multibody dynamics system model for an industrial robot

Cited by 25 publications

References 2 publications

Dynamic model and modal testing for vibration analysis of robotic grinding process with a 6DOF flexible-joint manipulator

Dynamic model and modal testing for vibration analysis of robotic grinding process with a 6DOF flexible-joint manipulator

Dynamic modeling and vibration mode analysis for an industrial robot with rigid links and flexible joints

Implementation of Multi-Body Dynamics Simulation for the Conveyor Chain Drive System

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