<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>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.</p>
</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.

Influence of the Manipulator Configuration on Vibration Effects

Rzeszów University of Technology, Faculty of Mechanical Engineering and Aeronautics

Department of Applied Mechanics and Robotics

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Influence of the Manipulator Configuration on Vibration Effects"}

Vibration analysis of industrial robots is one of the key issues in the context of robotisation of machining processes. Low-frequency vibrations result from...

Influence of the Manipulator Configuration on Vibration Effects

Published Online: Dec 30, 2023

Page range: 515 - 522

Received: Dec 28, 2022

Accepted: May 24, 2023

DOI: https://doi.org/10.2478/ama-2023-0060

Keywords
industrial manipulator, manipulator model, robot vibration

© 2023 Paulina Pietruś et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Influence of the Manipulator Configuration on Vibration Effects

Published Online: Dec 30, 2023

Page range: 515 - 522

Received: Dec 28, 2022

Accepted: May 24, 2023

DOI: https://doi.org/10.2478/ama-2023-0060

Keywordsindustrial manipulator, manipulator model, robot vibration

© 2023 Paulina Pietruś et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
industrial manipulator, manipulator model, robot vibration