Vibration analysis and passive control of SCARA robot arm

Abstract

This paper takes the SCARA robot arm as the research object and establishes the three-dimensional model of the SCARA robot arm. The modal analysis is performed by ANSYS software to obtain the vibration characteristics of the SCARA robot arm. This paper analyzes the vibration characteristics of the arm to obtain the weakest part of the arm vibration. In addition, the validity of the modeling results is verified by comparing the experimental results with the modeling results. That is, the base of the SCARA robot arm has the largest deformation in vibration and the maximum amplitude of acceleration changes. Finally, the vibration passive control scheme is proposed for the weakest part of the vibration. We can slightly improve the deformation and amplitude by optimizing the cross-sectional shape of the SCARA robot arm. This study provides more effective theoretical and technical support for the design of the high-precision SCARA manipulator and the dynamic design, vibration and life extension and performance improvement of the SCARA manipulator under variable operating conditions.