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The research leading to these results has received funding from the commissioned task entitled “VIA CARPATIA Universities of Technology Network named after the President of the Republic of Poland Lech Kaczy ´nski”, contract no. MEiN/2022/DPI/2578 action entitled “In the neighborhood—inter-university research internships and study visits”.
This paper deals with the analysis of nonlinear vibration phenomena in the arm system of
an industrial robot. The presented mathematical model of the robot takes into account the flexibility
of the joints, which results in low-frequency vibrations in the arm. The study of vibration phenomena
has been carried out using analytical, numerical and experimental methods. Special attention has
been paid to bifurcation phenomena. The influence of two bifurcation parameters on the behaviour of
the robot arm was studied. It was shown that the amplitude and frequency of the harmonic excitation
create a nonlinear effect on the vibration amplitudes of the links. In bifurcation regions, the vibration
amplitudes can even differ several times depending on the direction of changes in the bifurcation
parameter. In general, the results indicate that, contrary to common practice, it is worth paying
attention to nonlinear phenomena when analysing robot vibrations.
