Inverse Task of Vibration Active Reduction of Mechanical Systems

Dymarek, Andrzej; Dzitkowski, Tomasz

doi:10.1155/2016/3191807

Cited by 12 publications

(17 citation statements)

References 21 publications

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“…That is why the servo drive, from the Labview Robotics library (figure 8), was used as the first test. In this solution the problem is the servo model used, the parameters of this element (its construction and characteristics [6,7] cannot be changed. This is particularly evident in figure 10.…”

Section: Model Of Robot Control Systemmentioning

confidence: 99%

Modelling of industrial robot in LabView Robotics

Banas

Ćwikła

Foit

et al. 2017

IOP Conf. Ser.: Mater. Sci. Eng.

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Abstract. Currently can find many models of industrial systems including robots. These models differ from each other not only by the accuracy representation parameters, but the representation range. For example, CAD models describe the geometry of the robot and some even designate a mass parameters as mass, center of gravity, moment of inertia, etc. These models are used in the design of robotic lines and sockets. Also systems for off-line programming use these models and many of them can be exported to CAD. It is important to note that models for off-line programming describe not only the geometry but contain the information necessary to create a program for the robot. Exports from CAD to off-line programming system requires additional information. These models are used for static determination of reachability points, and testing collision. It's enough to generate a program for the robot, and even check the interaction of elements of the production line, or robotic cell. Mathematical models allow robots to study the properties of kinematic and dynamic of robot movement. In these models the geometry is not so important, so are used only selected parameters such as the length of the robot arm, the center of gravity, moment of inertia. These parameters are introduced into the equations of motion of the robot and motion parameters are determined. IntroductionIn this article we will show the combination of these two types of models [12,13]. The model will be modelled both the geometry of the robot, and the robot kinematics and dynamics. Such models show better movement of the robot but they are more complex and therefore require more parameters. Construction of appropriate models and the selection of parameters is complex and difficult to obtain so this model will be further developed.In some offline programs [8] it is possible to replace the default controller by a special one for the robot. In such cases, the robot behaves in a manner similar to the actual robot, but the functionality of such programs is limited to tracking robot trajectory and collision testing.Such a controller cannot be modified or used in other development system, but its use reduces the time and better to check the possibility of a collision. The savings associated with buying the right controller is a better use of the robot and fewer problems on initial startup.So there is a need to build a model that allows not only to visualize or simulate machine operation, but also to study the influence of the control system on machine operation.The presented method is not intended for modelling only robots, it can be used for modelling any machine including control system even whole systems [5,15].

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Section: Model Of Robot Control Systemmentioning

confidence: 99%

Modelling of industrial robot in LabView Robotics

Banas

Ćwikła

Foit

et al. 2017

IOP Conf. Ser.: Mater. Sci. Eng.

View full text Add to dashboard Cite

show abstract

“…During this time, the PXI computer makes measurements and writes them to the file. This causes high frequencies to dominate the system, so data preparation was necessary [6,7]. The part of the program where pre-processing is performed followed by the model analysis is shown in figure 7.…”

Section: Analysis Of Waveformsmentioning

confidence: 99%

Experimental determination of dynamic parameters of an industrial robot

Banas

Ćwikła

Foit

et al. 2017

IOP Conf. Ser.: Mater. Sci. Eng.

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Abstract.In an industry increasingly used are industrial robots. Commonly used are two basic methods of programming, on-line programming and off-line programming. In both cases, the programming consists in getting to the selected points record this position, and set the order of movement of the robot, and the introduction of logical tests. Such a program is easy to write, and it is suitable for most industrial applications. Especially when the process is known, respectively slow and unchanging. In this case, the program is being prepared for a universal model of the robot with the appropriate geometry and are checked only collisions. Is not taken into account the dynamics of the robot and how it will really behave while in motion. For this reason, the robot programmed to be tested at a reduced speed, which is raised gradually to the final value. Depending on the complexity of the move and the proximity of the elements it takes a lot of time. It is easy to notice that the robot at different speeds have different trajectories and behaves differently.

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“…The optimization may concern geometric parameters such as module, the number of teeth, or clearances [5][6][7][8], but also dynamic parameters-mass moments of inertia of wheels and elastic components of the designed gearbox, meeting the predetermined properties, e.g., in the form of required frequency spectrum [9][10][11]. Therefore, dynamic properties of the structure, described in the form of frequency transition functions are one of the basic criteria used at the designing stage of the state-of-the-art mechanical structures [12][13][14][15][16][17][18]. Their knowledge enables the avoidance of operating the system in resonance zones, which affects the durability and proper operation of the device.…”

Section: Introductionmentioning

confidence: 99%

“…Their knowledge enables the avoidance of operating the system in resonance zones, which affects the durability and proper operation of the device. The system parameters can be selected, regarding the dynamic properties, by using the optimization algorithms [5][6][7], modeling [19][20][21][22], or synthesis [9][10][11][12][13][14][15][16][17][18], due to an introduction of simulation tests with the use of computers. Simulation tests, belonging to the scope of theoretical tests, allow us to analyze the impact of the selected parameters on mechanical characteristics.…”

Section: Introductionmentioning

confidence: 99%

Designing of Drive Systems in the Aspect of the Desired Spectrum of Operation

et al. 2021

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A method for selecting dynamic parameters and structures of drive systems using the synthesis algorithm is presented. The dynamic parameters of the system with six degrees of freedom, consisting of a power component (motor) and a two-speed gearbox, were determined, based on a formalized methodology. The required gearbox is to work in specific resonance zones, i.e., meet the required dynamic properties such as the required resonance frequencies. In the result of the tests, a series of parameters of the drive system, defining the required dynamic properties such as the resonance and anti-resonance frequencies were recorded. Mass moments of inertia of the wheels and elastic components, contained in the required structure of the driving system, were determined for the selected parameters obtained during the synthesis.

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Inverse Task of Vibration Active Reduction of Mechanical Systems

Cited by 12 publications

References 21 publications

Modelling of industrial robot in LabView Robotics

Modelling of industrial robot in LabView Robotics

Experimental determination of dynamic parameters of an industrial robot

Designing of Drive Systems in the Aspect of the Desired Spectrum of Operation

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