Repozytorium publikacji - Politechnika Gdańska

In the paper, a mechanical set composed of a robot (manipulator) and of an elastic beam is considered. The beam is fixed to the top of the robot structure. In most of the similar cases, undesired vibrations can be excited in the beam. They are especially significant, when dynamics in the robot braking period is examined. In the paper, estimation and modification of length of the braking period is proposed, in order to reduce the undesired vibrations. Investigations are restricted to numerical models, only. The rigid finite elements modelling and the multibody modelling are used together to obtain the system required numerical model. Instead of the classical rigid finite elements, its modified version is used, where some of the relative deformations are locked between the neighbour elements. As a result, sizes of the obtained matrices can be reduced as well as the time of the numerical calculations, too.

Autorzy

• dr hab. inż. Krzysztof Lipiński link otwiera się w nowej karcie