Simulation and Experimental Validation of Novel Trajectory Planning Strategy to Reduce Vibrations and Improve Productivity of Robotic Manipulator

Ariano, Andrea; Perna, Valerio; Senatore, Adolfo; Scatigno, Roberto; Nicolò, Fabio; Fazioli, Francesco; Avallone, Giuseppe; Pesce, Stefano; Gagliano, Alberto

doi:10.3390/electronics9040581

Cited by 7 publications

(3 citation statements)

References 20 publications

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“…Industrial robots are widely used in assembly, welding and palletizing. However, the residual vibration of industrial robots will reduce their work efficiency [1], [2] and affect the operational accuracy [3], [4]. It is therefore of great significance to suppress the residual vibration of robots.…”

Section: Introductionmentioning

confidence: 99%

Research on the Residual Vibration Suppression of a Controllable Mechanism Robot

et al. 2022

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The motors and reducers of traditional industrial robots are installed at the joints, which leads to large moment of inertia and difficult to effectively improve the dynamic performance of the robots. In particular, the residual vibration at the end of the robots will significantly reduce its working efficiency and fatigue life. Therefore, this paper proposes a new method to reinstall the motor and reducer near the frame, which can effectively suppress the residual vibration of the robots and simultaneously reduce the moment of inertia. Taking the series industrial robot as the research object, four types of CM robots are designed based on the theory of a multi-DOF controllable mechanism (CM). The motor and reducer of the robot are reinstalled near the frame through different branch chains, and their moments of inertia are calculated and compared. The dynamic equations of residual vibration of the four CM robots considering concentrated mass are established based on the finite element method (FEM) and Timoshenko space beam element (SBE) model, and the correctness of the equations are verified by experiments. The results show that the installation position of motor and reducer has a significant influence on the value of moment of inertia of the robot. The motor and reducer of configuration D are reinstalled near the frame by three branches, which can effectively reduce the attenuation time and amplitude of residual vibration at the end of the robot. The research provides a new idea for improving the dynamic performance of industrial robots.INDEX TERMS Controllable mechanism robot, finite element method, moment of inertia, residual vibration suppression.

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Section: Introductionmentioning

confidence: 99%

Research on the Residual Vibration Suppression of a Controllable Mechanism Robot

et al. 2022

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“…They used experimental modal analysis to validate predictions of their dynamic models and the vibration of the manipulators. There are other research works incorporating vibration analysis of robotic manipulators in motion planning or dynamic modeling such as works [18][19][20].…”

Section: Introduction 1motivation and Backgroundmentioning

confidence: 99%

“…In [18], vibration analysis was used for a trajectory planning strategy aimed at reducing residual vibration and execution time in industrial manipulators. Min et al [19] presented a collision detection method and identification scheme for robot manipulators using results from vibration analysis.…”

Section: Introduction 1motivation and Backgroundmentioning

confidence: 99%

Vibration Analysis of a 5-DOF Long-Reach Robotic Arm

et al. 2022

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In this paper, dynamic and vibration characteristics of a newly developed 5-degrees-of-freedom (5-DOF) long-reach robotic arm for farm applications is studied through finite element analysis (FEA), as well as experimentally. The new manipulator is designed to be light and compact enough that it can be mounted on a small vehicle for farm applications. A finite element model of this novel manipulator was established using a commercial FEA software. FEA was carried out for two different configurations of the manipulator (fully-extended and vertical half-extended). The fully-extended configuration provides the longest reach of the arm and is one of the most commonly used poses in farm applications; vibrations of this configuration are highly affected by its base excitation. The FEA results indicated that the first six natural frequencies of the manipulator for the two configurations considered were between 4.4 to 41.6 (Hz). Modal analysis on the fully-extended configuration was completed using experimental modal analysis to verify the finite element results. In the experiments, acceleration data were obtained utilizing sensors, and were post-processed using Fast-Fourier Transforms. The first six natural frequencies and their corresponding mode shapes were obtained using FEA and also experimentally, and the results were compared; the comparison showed good agreement, with less than 10% difference. Our verified FE model provides a reliable basis for future vibration control for the newly developed robotic arm for different applications. A harmonic response simulation was also carried out using an experimentally corrected FE model; this provides a good understanding of the dynamic behavior of the newly developed arm under base excitation. This paper offers an experimentally corrected FEA model for a large manipulator with base excitation for farm applications.

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EOD robot mechatronic modelling and trajectory optimization through Chebyshev polynomials

Senatore

Ventura

2022

2022 25th International Conference on Mechatronics Technology (ICMT)

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Simulation and Experimental Validation of Novel Trajectory Planning Strategy to Reduce Vibrations and Improve Productivity of Robotic Manipulator

Cited by 7 publications

References 20 publications

Research on the Residual Vibration Suppression of a Controllable Mechanism Robot

Research on the Residual Vibration Suppression of a Controllable Mechanism Robot

Vibration Analysis of a 5-DOF Long-Reach Robotic Arm

EOD robot mechatronic modelling and trajectory optimization through Chebyshev polynomials

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