Vibration Protection of the Robotic Arm From External Effects on the Base

摘要

The paper considers the topical problem of robotic arms protection from small base vibrations. To derive a dynamic equations, the matrix method and the matrix Lagrange equations are used. A mathematical model of the movement of the manipulator with small vibrations of the base is presented. The solution was obtained by the method of polynomial transformations. A motion model of a manipulator mounted on shock absorbers consisting of elastic elements and dampers is presented. The shock absorber allows you to completely absorb small vibrations of the base of the manipulator. Dependences of the depreciation coefficient on the vibration frequency of the base and the coefficient of vibration protection on the damping coefficient are presented. For this case, the depreciation coefficient is significantly less than unity and the shock absorber effectively dampens small vibrations of the base.