Abstract
In order to study the vibration characteristics of the end of a six-degree-of-freedom manipulator, based on the vibration transmission principle of “excitation source-vibration transfer system-receiver”, a solution for end-of-freedom vibration analysis and testing of a six-degree-of-freedom robot is proposed. By combining the robot body vibration experiment and the single-axis working vibration experiment test, this scheme can effectively analyze the influencing factors of the end vibration during the robot movement, so as to trace the source of the fault. The test results show that as the speed of the robot increases, the end-of-end vibration performance will become more obvious; the change of the robot's motion trajectory will also affect the severity and duration of the end-of-robot vibration; single-axis working vibration test and vibration test. Combined with analysis, it can be inferred that the second-axis is the main cause of the vibration at the end of the robotic arm in this test. The study obtained the dynamic characteristics of the robot under different working conditions, which provided a basis for the optimization of the performance of the manipulator.
G. Lianzhe—Robot fault diagnosis and health assessment.
Z. Zhenshan—Tribology, fluid lubrication, mechanism dynamics and reliability.
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Acknowledgement
This paper was funded by 2020 Collaborative Education Program of Higher Education Department of the Ministry of Education, No. 202002110006; 2021 National Foreign Languages Teaching and Research Program for Universities, No. 202110003; National Natural Science Foundation of China, No.51775165.
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Guan, L., Cui, G., Zhang, Z., Pan, Y., Li, C. (2021). Vibration Test and Analysis of a Six-Degree-of-Freedom Cooperative Robot Manipulator End. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_36
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