Vibration damping on industrial robots – a semi-active approach to improve the dynamic behavior

被引：0
|
作者：
Neubauer M. [1 ]
Mesmer P. [1 ]
Lechler A. [1 ]
Verl A. [1 ]
机构：
[1] Universität Stuttgart Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen (ISW), Seidenstr. 36, Stuttgart
来源：
WT Werkstattstechnik | 2021年 / 111卷 / 09期
关键词：
D O I：
10.37544/1436-4980-2021-09-48
中图分类号：
学科分类号：
摘要：
Industrial robots are increasingly required to provide high path accuracy and good disturbance rejection behavior. In order to achieve this, a semi-active damping approach is presented, which damps drive train vibrations actuator-based. This leads to a more damped system behavior, allowing control gains to be increased. The result is an improved overall behavior, which is demonstrated on a Kuka Kr210–2 with semi-active damping on axis 1. © 2021, VDI Fachmedien GmBH & Co. KG. All rights reserved.
引用
收藏
页码：622 / 627
页数：5
相关论文
共 50 条
  • [1] Suitable Damping Control Methods for Semi-Active Dynamic Vibration Absorbers
    Horbay, Orest
    Diveyev, Bohdan
    Kernytskyy, Ivan
    Buryan, Mykhaylo
    Opalko, Victoria
    2019 IEEE 15TH INTERNATIONAL CONFERENCE ON THE EXPERIENCE OF DESIGNING AND APPLICATION OF CAD SYSTEMS (CADSM'2019), 2019,
  • [2] Vibration Isolation with Semi-Active Friction Damping
    Liu, Yong
    Wen, Li Hua
    ADVANCES IN MECHANICAL DESIGN, PTS 1 AND 2, 2011, 199-200 : 1041 - 1045
  • [3] Semi-Active System of Vehicle Vibration Damping
    Grzesikiewicz, Wieslaw
    Makowski, Michal
    APPLIED SCIENCES-BASEL, 2021, 11 (10):
  • [4] Semi-active vibration damping by modulation of joint friction
    Agarwal, Sandeep
    PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B, 2005, : 1779 - 1787
  • [5] Magnetorheological damping and semi-active control of an autoparametric vibration absorber
    Kecik, Krzysztof
    Mitura, Andrzej
    Sado, Danuta
    Warminski, Jerzy
    MECCANICA, 2014, 49 (08) : 1887 - 1900
  • [6] Magnetorheological damping and semi-active control of an autoparametric vibration absorber
    Krzysztof Kecik
    Andrzej Mitura
    Danuta Sado
    Jerzy Warminski
    Meccanica, 2014, 49 : 1887 - 1900
  • [7] ON A SUBCLASS OF NONLINEAR PASSIVE AND SEMI-ACTIVE DAMPING FOR VIBRATION ISOLATION
    ELMADANY, MM
    ELTAMIMI, A
    COMPUTERS & STRUCTURES, 1990, 36 (05) : 921 - 931
  • [8] Semi-active damping using a hybrid control approach
    Gawthrop, Peter J.
    Neild, Simon A.
    Wagg, David J.
    JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES, 2012, 23 (18) : 2103 - 2116
  • [9] Semi-active on-off damping control of a dynamic vibration absorber using Coriolis force
    Viet Duc La
    JOURNAL OF SOUND AND VIBRATION, 2012, 331 (15) : 3429 - 3436
  • [10] A semi-active negative stiffness dynamic vibration absorber
    Xing Z.
    Shen Y.
    Xing H.
    Li X.
    Zhendong yu Chongji/Journal of Vibration and Shock, 2021, 40 (15): : 123 - 128and136
12345