Schwingungsdämpfung bei Industrierobotern

Ein semiaktiver Ansatz zur Verbesserung der Dynamik

Themen: KI | Digital Twin | Robotik

Publikationsform: Fachartikel
Artikelnummer: 03654_2016_10_03
Zeitschrift: Schwingungsdämpfung bei Industrierobotern
Erscheinungsdatum: 01.10.2016
Autor: Michael Neubauer/Universität Stuttgart / Hendrik Vieler/Universität Stuttgart / Armin Lechler/Universität Stuttgart / Alexander Verl/Universität Stuttgart
Herausgeber: 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.
Verlag: DIV Deutscher Industrieverlag GmbH
Publikationsformat: PDF
Themenbereich: atp edition

Details

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.

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