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Research Papers

A Vibration Absorption Method for Alleviating Impact of the Flexible Robotic Arm

[+] Author and Article Information
Yushu Bian

School of Mechanical Engineering
and Automation,
Beihang University,
Beijing 100191, China
e-mail: bian_bys@buaa.edu.cn

Zhihui Gao

School of Mechanical Engineering
and Automation,
Beihang University,
Beijing 100191, China

Ming Fan

The Second of Corps of
Engineers GEH PLA,
Beijing 100036, China

1Corresponding author.

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received May 31, 2016; final manuscript received November 23, 2016; published online January 20, 2017. Assoc. Editor: Hiroshi Yabuno.

J. Comput. Nonlinear Dynam 12(4), 041006 (Jan 20, 2017) (9 pages) Paper No: CND-16-1258; doi: 10.1115/1.4035409 History: Received May 31, 2016; Revised November 23, 2016

Impact may excite intense vibration responses of the flexible robotic arm and thus deteriorate its working performance. A vibration absorption method is put forward to alleviate impact influence of the flexible robotic arm. To dissipate the impact vibration energy, a slider mass–spring–dashpot mechanism is used as a vibration absorber and attached to the flexible robotic arm. Internal resonance is sufficiently utilized to provide a bridge for the transfer of impact vibration energy between the flexible link and the absorber via nonlinear coupling. In the presence of damping of the absorber, the impact vibration energy of the flexible link can be effectively migrated to and dissipated by the absorber. Numerical simulations and virtual prototype simulations verify its effectiveness and feasibility in alleviating impact vibration of the flexible robotic arm undergoing a collision.

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Figures

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Fig. 1

Flexible robotic arm with a vibration absorber

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Fig. 2

Flexible robotic arm without vibration absorber

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Fig. 3

Endpoint vibration undergoing an impact

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Fig. 4

Undamped modal amplitudes

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Fig. 5

Damped modal amplitudes

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Fig. 6

Endpoint deformation of the controlled arm

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Fig. 7

Optimized endpoint deformation of the controlled arm

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Fig. 8

Endpoint deformation undergoing a collision (without a vibration absorber)

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Fig. 9

A two-link flexible robotic arm with a vibration absorber in adams

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Fig. 10

Deformation of the endpoint and the displacement of the vibrator (without damping)

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Fig. 11

Endpoint deformation of the flexible link (without damping and with damping)

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Fig. 12

Comparison of the endpoint deformation

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