Vibration Damping of Industrial Robots

被引：0
作者：
Neubauer, Michael [1 ]
Vieler, Hendrik [2 ]
Lechler, Armin [2 ]
Verl, Alexander [2 ]
机构：
[1] Univ Stuttgart, Inst Steuerungstech Werkzeugmaschinen & Fertigung, Seidenstr 36, D-70174 Stuttgart, Germany
[2] Univ Stuttgart, ISW, Stuttgart, Germany
来源：
ATP EDITION | 2016年 / 10期
关键词：
industrial robots; vibration reduction; damping; handling; dynamic;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The wish for shorter through-put times in the industrial production is connected with higher requirements on the dynamic of industrial robots. These are susceptible to vibrations due to the combination of serial kinematics, flexible gears and the drive-sided position control of the axes. In order to counteract this circumstance, an approach to reduce vibrations via semi-active damping is presented in this article. The potential of the method is demonstrated by means of a forward dynamic simulation.
引用
收藏
页码：48 / 55
页数：8
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