Research on Simulation of the Robot : 3rd Report, Vibration Analysis, Part 1

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概要

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• The vibration of link mechanisms of a closed loop, and opened loop and compound loops is analyzed numerically, in order to simulate motion of articulated robots at the design stage. It is assumed that all parts of the mechanisms have linear characteristics against small displacement around the equilibrium positions. First, the equation of motion is composed of the inertia, damping and spring forces calculated in the authors' previous report. The natural frequency, natural mode and transfer function of the link mechanism are analyzed by this equation. Next, the displacement and the stiffness of the hand of an articulated robot are analyzed. The vibration of the actual robot for industry is calculated numerically by the present method under the assumption of structural damping. The damping and stiffness coefficients of each pair are determined by the basic experiment. The calculated results are compared with the results of the vibration test.

• 一般社団法人日本機械学会の論文

著者

• Nagamatsu Akio

  Faculty Of Engineering Tokyo Institute Of Technology

• Nagamatsu Akio

  Faculty O F Engineering Tokyo Institute Of Technology

• SAITO Takashi

  Faculty of Engineering, Tokyo Institute of Technology

• Saito Takashi

  Faculty Of Engineering Kyushu Institute Of Technology

• SAKURAI Yasuo

  Research Institute of industrial Technology, Matsushita Electric Industrial Co., Ltd.

• Sakurai Yasuo

  Research Institute Of Industrial Technology Matsushita Electric Industrial Co. Ltd.

• Saito Takashi

  Faculty Of Agriculture Yamagata University

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