Schwingungsdämpfung bei Industrierobotern
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Artikelnummer
03654_2016_10_03
Ein semiaktiver Ansatz zur Verbesserung der Dynamik
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.
| Autoren | Michael Neubauer/Universität Stuttgart / Hendrik Vieler/Universität Stuttgart / Armin Lechler/Universität Stuttgart / Alexander Verl/Universität Stuttgart |
|---|---|
| Erscheinungsdatum | 01.10.2016 |
| Format | |
| Zeitschrift | atp edition - Ausgabe 10 2016 |
| Verlag | DIV Deutscher Industrieverlag GmbH |
| Titel | Schwingungsdämpfung bei Industrierobotern |
| Untertitel | Ein semiaktiver Ansatz zur Verbesserung der Dynamik |
| Beschreibung | 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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