Analysis of Bifurcation Vibrations of an Industrial Robot Arm System with Joints Compliance
Artykuł w czasopiśmie
MNiSW
100
Lista 2023
| Status: | |
| Autorzy: | Gierlak Piotr , Warmiński Jerzy |
| Dyscypliny: | |
| Aby zobaczyć szczegóły należy się zalogować. | |
| Rok wydania: | 2023 |
| Wersja dokumentu: | Drukowana | Elektroniczna |
| Język: | angielski |
| Numer czasopisma: | 21 |
| Wolumen/Tom: | 13 |
| Strony: | 1 - 17 |
| Web of Science® Times Cited: | 0 |
| Bazy: | Web of Science |
| Efekt badań statutowych | NIE |
| Finansowanie: | 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”. |
| Materiał konferencyjny: | NIE |
| Publikacja OA: | TAK |
| Licencja: | |
| Sposób udostępnienia: | Witryna wydawcy |
| Wersja tekstu: | Ostateczna wersja opublikowana |
| Czas opublikowania: | W momencie opublikowania |
| Data opublikowania w OA: | 31 października 2023 |
| Abstrakty: | angielski |
| 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. |
