Application of Single Unit Impact Dampers to Reduce Undesired Vibration of the 3R Robot Arms

摘要

In the present study, vibratory behaviour of a robot arm with a single unit impact damper is investigated. To find the contact duration, oscillat ion of the impact mass and the main mass between and during the contacts is formulated. Using the contact duration and relative vibration of the masses, the restitution coefficient is obtained and employed to model the vibratory behaviour of the impact damper system. As a case study, effect of using the impact damper systems on application of a 3R robot is investigated. In this investigation, the third link of robot is considered laterally flexible with respect to other lin ks. Effect iveness of using the impact dampers to suppress undesired vibration of robot arm is investigated with varying impact mass and gap size. Finally, the output force of the 3R robot tip with and without impact damper is co mpared. It is shown the impact damper can suppress undesired vibration of the robot arm and helps to improve application of the robot.