Analysis of Bifurcation Vibrations of an Industrial Robot Arm System with Joints Compliance
Source abstract
Abstract
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.
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Research context
OpenAlex topics: Dynamics and Control of Mechanical Systems · Mechanics and Biomechanics Studies · Mechanical Engineering and Vibrations Research
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Applied Mechanics and Robotics, Faculty of Mechanical Engineering and Aeronautics, Rzeszów University of Technology, 35-959 Rzeszow, Poland
Department of Applied Mechanics, Faculty of Mechanical Engineering, Lublin University of Technology, 20-618 Lublin, Poland
Funding
commissioned task entitled “VIA CARPATIA Universities of Technology Network named after the President of the Republic of Poland Lech Kaczyński”
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