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Multibody modeling and vibration testing of 3R planar manipulators: effects of flexible installation frames

Published online by Cambridge University Press:  22 May 2013

Emiliano Mucchi ,
Stefano Fiorati ,
Raffaele Di Gregorio  and
Giorgio Dalpiaz
Emiliano Mucchi*
Affiliation:
Department of Engineering, University of Ferrara, Via Saragat 1, I-44122 Ferrara, Italy
Stefano Fiorati
Affiliation:
Department of Engineering, University of Ferrara, Via Saragat 1, I-44122 Ferrara, Italy
Raffaele Di Gregorio
Affiliation:
Department of Engineering, University of Ferrara, Via Saragat 1, I-44122 Ferrara, Italy
Giorgio Dalpiaz
Affiliation:
Department of Engineering, University of Ferrara, Via Saragat 1, I-44122 Ferrara, Italy
*
*Corresponding author. E-mail: emiliano.mucchi@unife.it
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Summary

This work presents the experimental validation and updating of a flexible multibody model ideated for taking into account installation conditions of industrial serial planar manipulators without resorting to cumbersome modeling. The flexibility of the frame, the manipulator is fixed, is modeled over the flexibility of joints, which is introduced as lumped stiffness. In particular, the flexible frame is included in the model by using the Component Mode Synthesis methodology, in which only the natural modes of vibration and the static constrain modes are accounted. The flexible multibody model has been developed because these commercial machines are mainly used to perform low-speed tasks, and they are designed by taking into account their flexibility at most in the joints. Unfortunately, there are particular installation conditions in which even low-speed tasks can generate low-frequency vibrations that highly interfere with the task. This aspect is considered here, and how to manage this problem is explained by using the developed multibody model. The model is validated through experimental measurements. The experimental tests consist of several modal analyses, together with acceleration and laser Doppler measurements in operational conditions. This methodology takes into account the installation conditions through the model of flexible frame, and gives a tool for studying ad hoc solutions which prevent the occurrence of unwanted low-frequency vibrations.

Keywords

Flexible multibody modelSerial planar manipulatorExperimental validationModel updatingModal analysis
Type
Articles
Information
Robotica , Volume 31 , Issue 8 , December 2013 , pp. 1209 - 1220
Copyright
Copyright © Cambridge University Press 2013 

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