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Vibration due to motion discontinuities in hydraulically actuated robots

Published online by Cambridge University Press:  09 March 2009

J. Rees Jones
J. Rees Jones
Affiliation:
Mechanisms and Machines Group, Liverpool Polytechnic, Liverpool L3 3AF (U.K.)
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Summary

Vibrations in robot action, both in the arm control system and arm itself, and in the transported load, are a serious problem in the development of high speed systems. The paper discusses the typical causes of vibration resulting from the motion command in path controlled robots and those due to the failure of a system to meet the specified command through power and performance limitations. Experimental results illustrating such phenomena are presented. Methods of reducing the magnitude or occurrence of such vibrations through the improved design of motion commands, which take account of the vibratory nature of the system and load, are presented.

Type
Article
Information
Robotica , Volume 1 , Issue 4 , October 1983 , pp. 211 - 215
Copyright
Copyright © Cambridge University Press 1983

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References

1.Jones, J. Rees, “A Comparison of the Dynamic Performance of Tuned and Non-tuned Multiharmonic Cams” IFTOMM Symp. SYROM '77 III-2, paper 47 pp 553–564 (1977).Google Scholar
2.Baysec, S., “Simulation of the Dynamics of Hydraulically Actuated Planar Manipulators” Ph.D. Thesis CNAA Liverpool Polytechnic (1983).Google Scholar