Modal analysis of a light-weight robot with a rotating tool installed at the end effector

Vu, Viet-Hung; Liu, Zhaoheng; Thomas, Marc; Hazel, Bruce

doi:10.1177/0954406215619451

Cited by 10 publications

(2 citation statements)

References 13 publications

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“…In [9], a method was presented for modal analysis and spectrum construction that yielded harmonics and structural modes of vibration. The authors then performed numerical simulations for a 3-DOF system and experimental tests on a 6-DOF flexible manipulator.…”

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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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 respect, the freefree boundary condition of the robotic arm models to test constraint of such cases here in the following sections for MFA. A lightweight robot for the end effectors design concerning a flexible robot [7]. Robot arms used for service application in the human environment are designed with vibration damping control [8].…”

Section: Introductionmentioning

confidence: 99%

Modal Frequency Analyses of the Variable Stiffness Mechanism Design of the Soft Robotic System

Sahin

2021

International Journal of 3D Printing Technologies and Digital Industry

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In this study, mechanism design and numerical analysis are investigated and directly simulated through additively manufacturing materials of the thermoplastic polyurethane TPU and ABS. Systematic motion planning of humanoid arm systems improved concerning the designed soft robotic arm-like variable stiffness system through the completed novel methodology for the analysis. Soft robotics variable stiffness for mechanism design is a novel research area. Additionally, the humanoid arm-like variable stiffness mechanism herein is taken as a case study in this technology. The variable stiffness types for soft robotics are inflatable robotic technology, smart materials technology, mechanism technology, and a combination of them. The variable stiffness mechanism has a novel design opportunity via the boundary conditions and the orientation of the initial conditions for soft robotics. The relation between the boundary conditions and variable stiffness is not investigated sufficiently. The novel field of study completed herein, the soft robotics variable stiffness, is a fundamental investigation for further development in the mechanism design. Variable stiffness mechanisms can transmit the translational and rotational motions into required directions with required displacements and applied forces on the multibody systems. The stiffness for the fixed-free structural constraint boundary condition of the specified initial condition orientation is 8 Nm/rd compared to the stiffness value of the 65.6 Nm/rd fixed-fixed end boundary condition.

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