Optimizing the Global Dynamic Compliance by Using the Smart Damper and LabVIEW Instrumentation

Olaru, Serban; Paune, Dan; Olaru, Adrian

Get full access here Site/IP Subscriptions Log in

My Cart

Advanced Search

Paper Titles

Preface and Technical Committee
Spherical Ultrasonic Motor for Pipe Inspection Robot, p.3
Multi-Agent Robotic System – Robotic Soccer in Category Mirosot, p.12
Dynamic Thermal Analysis of Laminated Cylinder with a Piezoelectric Layer Based on Three-Dimensional Elasticity Solution, p.16
Optimizing the Global Dynamic Compliance by Using the Smart Damper and LabVIEW Instrumentation, p.26
Advanced Rehabilitation Technology, p.35
The Command and Control Software Implementation of a CCD Video 2 Axis Gyrostabilized Payload Used by a Fixed Wing UAV Configuration Platform, p.46
Machining with Image Recognition Using Industrial Robot, p.50
Validation of the Mathematical and Numerical Models for Artillery Barrels Autofrettage Based on Hydrostatic Procedure, p.58

Home > Applied Mechanics and Materials > Optimization of the Mechanical Engineering,... > Optimizing the Global Dynamic Compliance by Using...

Paper Title:

Optimizing the Global Dynamic Compliance by Using the Smart Damper and LabVIEW Instrumentation

Periodical	Applied Mechanics and Materials (Volume 186)
Main Theme	Optimization of the Mechanical Engineering, Manufacturing Systems, Robotics and Aerospace
Edited by	Adrian Olaru
Pages	26-34
DOI	10.4028/www.scientific.net/AMM.186.26
Citation	Adrian Olaru et al., 2012, Applied Mechanics and Materials, 186, 26
Online since	June, 2012
Authors	Adrian Olaru, Serban Olaru, Dan Paune
Keywords	Control System, Global Dynamic Compliance, LabVIEW Instrumentation, Smart Damper, Virtual Simulation, Viscose Global Dynamic Damper Coefficient
Price	US$ 28,-

View full size

Abstract

The actual required productivity, accuracy and reliability impose that the robots must be optimized concerning the dynamic behavior. The joints and robots bodies are necessary to be optimized for their usability performance to assure the productivity requirements. The global dynamic compliance (GDC) is one of the most important dynamic parameters of the dynamic behavior of the industrial robots. The viscose global dynamic damper coefficient (VGDDC) is other important parameter of the dynamic behavior what must be optimized to obtain the desired dynamic behavior, the avoiding of the resonance frequencies. The paper shows one new assisted method of the GDC analyzes of the industrial robot with LabVIEW virtual instrumentation (VI) in three different cases: with/without smart magnetorheological damper (MRD) and with aero damper. The created VI-s assures to obtain the assisted research of the dynamic behavior. With this research was possible to determine in the frequencies domain, the robot GDC and the viscose global dynamic damper equivalent coefficient (VGDDEC) value in a case with MRD and finally the transmission of the vibration from the floor to the robot’s tool center point (TCP). This method and the created virtual LabVIEW instrumentation are generally and they are possible to apply in many others dynamic behavior researches.