Vibration Environmental Prediction of Flexible Joint Robot in Moving State

doi:10.13190/jbupt.200905.99.zhuangw

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2009, Vol. 32 ›› Issue (5): 99-103.doi: 10.13190/jbupt.200905.99.zhuangw

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Vibration Environmental Prediction of Flexible Joint Robot in Moving State

ZHUANG Wei，LIU Xiao-ping

（School of Automation， Beijing University of Posts and Telecommunications， Beijing 100876， China）

Received:2009-02-02 Revised:2009-05-21 Online:2009-10-28 Published:2009-10-28
Contact: ZHUANG Wei

Abstract

Abstract:

A new approach of vibration environmental prediction on mechanism is presented to study the vibration characteristics of moving flexible joint robot. Taking a 3-D manipulator robot as the research object, this method combines wave theory of structures with rotated transform matrix of joint. Considered the general force balance and displacement boundary of each joint, the environmental prediction model of system in moving states is established. Vibration experiments on moving robot are done. It is shown that the approach is feasible.

Key words: robot, flexible joint, wave propagation, vibration, environmental prediction

ZHUANG Wei，LIU Xiao-ping. Vibration Environmental Prediction of Flexible Joint Robot in Moving State[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2009, 32(5): 99-103.

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Vibration Environmental Prediction of Flexible Joint Robot in Moving State

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