Structural Deign Optimization for A Two-link Robot to Suppress Undesirable Vibration

Kawamura, Shozo; Iwamoto, Yusuke; Minamoto, Hirofumi; Kamigaki, Toshio; Taniyama, Yasushi; Kawamura, Hirotoshi

doi:10.1299/jamdsm.3.289

Cited by 10 publications

(6 citation statements)

References 9 publications

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“…The vibration level of the welding robot directly affects the welding quality [5], and the suppression of resonance has become an important research direction [6][7][8]. Therefore, controlling the suppression resonance is an important consideration in the design and development of welding robots [9,10]. During the working process of welding robots, several motors are often required to operate at the same time to realize the complex trajectory of the welding.…”

Section: Introductionmentioning

confidence: 99%

Resonance Suppression of a Controllable Mechanism Welding Robot End with Central Composite Design Methodology

Shi

Huang

2022

Applied Sciences

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Aiming to achieve resonance suppression of a controllable mechanism welding robot end using dynamic modeling and experimental verification, this paper applies a central composite design methodology to optimize suppression resonance using three variables: excitation source, rod stiffness and damping. Considering the coupling effects of the excitation source, member stiffness and damping, a combination optimization is carried out, and the optimal control result of the end is obtained, for which the optimized peak amplitudes are significantly reduced. The research provides an important technical basis for the dynamic design and resonance suppression control of controllable welding robot mechanisms.

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Section: Introductionmentioning

confidence: 99%

Resonance Suppression of a Controllable Mechanism Welding Robot End with Central Composite Design Methodology

Shi

Huang

2022

Applied Sciences

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“…Several methods have been developed for the vibration control of various mechanical systems. The first type of method involves redesigning the robot structures [18] or using smart materials [19][20][21] for vibration control. This type of method is not only uneconomical, but also ineffective in damping the vibrations.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of Jittering Mitigator for Robot Arm-Tip

Duan¹,

Li²,

Xu³

et al. 2021

Int. J. Comput. Methods

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To tackle the jittering of a robot arm-tip, a novel method of the jittering mitigation is proposed. The key idea is to transmit the jittering to vibration of a mass block nested inside the jittering-mitigator. This method only requires the frequency of the jittering at the arm-tip. To verify the practicability of the method, a practical robot was applied through simulations and physical experiments. The jittering mitigator device can be directly attached to or detached from the arm-tip. The jittering at the arm-tip was first measured through experiments using accelerometers connected to the vibration and noise testing system. Then, the dominant frequency was identified through fast Fourier transform analysis. The theoretical parameters of the jittering mitigator were calculated accordingly. A model was established to simulate the jitter reduction effect of the mitigator. The results revealed a 68% reduction in the average amplitude of the jittering vibration at the arm-tip, which is corroborated by the experiment results. The proposed method could be applicable to all types of robots theoretically because it only requires computing the frequency of jitter.

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“…An integrated structure-control design method of a two-link flexible robot arm is investigated in Zhu et al (2001), and the aim of this method is to reach predefined working space and to suppress residual flexural vibrations with the structural and control parameters of the whole arm which are optimized simultaneously. A simultaneous optimum design of structural and control system of a two-link robot in specified trajectory is proposed in Kawamura et al (2009) with feedback gain and weight distribution as design variables and the vibration suppression effect and control energy as objective function.…”

Section: Introductionmentioning

confidence: 99%

Multi-objective global optimum design of collaborative robots

Wang

Pan

2020

Struct Multidisc Optim

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Optimum design is proven significant for improving task performances of robotic manipulators under certain constraints. However, when it is utilized for collaborative robots (Cobots), there are still many challenges such as complex smooth surface links, time-varying kinematic configurations, computational expensiveness, and nonstructural parameter optimization. Therefore, based on orthogonal design experiment (ODE) and finite element substructure method (FESM), a multi-objective optimum design method of Cobots is proposed with the structural dimensions and parameterized joint components as the optimization variables and the natural frequency, the Cartesian stiffness, and the mass of the robot as optimization objectives. Firstly, to obtain multiple global performance indexes (GPIs) of robots in real-time and efficiently, the FESM model of Cobots is established which can preserve the accuracy of the finite element method (FEM) while ensuring the computational efficiency. Then, the gray relational analysis method (GRAM) is used to construct the multi-objective optimization function which includes the global first-order natural frequency index (GFNFI), the global elastic deformation index (GEDI), and the mass of robots. The ODE is constructed, and the structural dimensions and parameterized joint components are taken as influencing factors. According to the orthogonal array (OA), the degree of gray incidence under different levels of influencing factors is solved. And the optimal combination of influencing factor levels is obtained by range analysis (RA), which is used to guide the design of Cobots. Finally, a Cobot SHIR5-I is taken as an illustrative example to perform optimum design in this paper.

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Structural Deign Optimization for A Two-link Robot to Suppress Undesirable Vibration

Cited by 10 publications

References 9 publications

Resonance Suppression of a Controllable Mechanism Welding Robot End with Central Composite Design Methodology

Resonance Suppression of a Controllable Mechanism Welding Robot End with Central Composite Design Methodology

Design and Analysis of Jittering Mitigator for Robot Arm-Tip

Multi-objective global optimum design of collaborative robots

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