Abstract
A hardware configuration that reduces excessive oscillation in flexible robotic arms is presented and analyzed. An experimental apparatus was constructed and proved to effectively damp unwanted oscillations using passive components. Equations of motion for the configuration are derived and simulated. Using a single degree of freedom approximation, expressions for the dominant natural frequency and damping ratio are presented and verified for similitude. The two equations were found to be good predictors of dynamic response for certain configurations of similarly constructed robots. Conditions where the equations are poor predictors of dynamic response are given. General design objectives for optimizing damping are obtained from parametric studies of length to width ratio, payload to manipulator weight ratio, and percentage of total beam length used for damping.
| Original language | American English |
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| State | Published - Jan 1 1996 |
| Event | Texas A&M University - College Station, TX Duration: Jan 1 1996 → … |
Conference
| Conference | Texas A&M University |
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| Period | 1/1/96 → … |
Keywords
- hardware
- oscillation
- robotic arms
- dynamic response
Disciplines
- Hardware Systems
- Robotics