The Vibration Characteristics Analysis on Operating Arm of Rectangular Coordinate Robot

Inhalt:
The operating arm of rectangular coordinate robot is the key component to perform tasks. Its vibration characteristics have an important impact on the operation accuracy and work efficiency of the robot, so it is worth studying and analysing. Based on the deformation displacement relationship of robot operating arm under different time states, this paper proposed the kinematic description method of radial motion of operating arm, and established the dynamic control model of radial motion operating arm by using Hamilton variational principle and modal superposition method. This model focused on the relationship between the driving acceleration, load mass and the vibration characteristics of the operating arm. Through the analytical calculation and finite element analysis of the dynamic model, the influence of these two factors on the vibration amplitude, modal frequency and other modal characteristics of the robot operating arm were explored respectively. The results provided a theoretical basis for the vibration control of the robot operating arm.