TY - JOUR
N2 - In the paper, a mechanical set composed of a robot (manipulator) and of an elastic beam is considered. The beam is fixed to the top of the robot structure. In most of similar cases, undesired vibrations can be excited in the beam. They create an especially significant problem when dynamics in the robot braking period is examined. In the paper, estimation and modification of length of the braking period is proposed, in order to reduce the undesired vibrations. Investigations are restricted to numerical models, only. The rigid finite elements modelling and the multibody modelling are used together to obtain the numerical model required for the system. Instead of the classical rigid finite elements, its modified version is used, where some of the relative deformations are locked between the neighbour elements. As a result, sizes of the obtained matrices can be reduced as well as the time of the numerical calculations.
L1 - http://journals.pan.pl/Content/84763/PDF/06_paper.pdf
L2 - http://journals.pan.pl/Content/84763
PY - 2013
IS - No 3
EP - 369-388
KW - robots with elastic elements
KW - vibrations
KW - numerical modelling
KW - dynamics of multibody structures
KW - rigid finite elements
A1 - LipiĆski, Krzysztof
PB - Polish Academy of Sciences, Committee on Machine Building
VL - vol. 60
T1 - Rigid finite elements and multibody modelling used in estimation and reduction of rod vibrations
DA - 2013
SP - 369-388
UR - http://journals.pan.pl/dlibra/publication/edition/84763
T2 - Archive of Mechanical Engineering
DOI - 10.2478/meceng-2013-0024
ER -