ロボットのシミュレーションに関する研究 : 第3報,振動解析,その1

概要

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The vibration of link mechanisms of a closed loop, an 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 displacements around the equilibrium positions. First, the equation of motions is composed with 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 the 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 caluculated 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
1985-10-25