Papers by Keyword: Global Dynamic Compliance

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.

Abstract: The paper showed the assisted research of some new dynamic behavior parameters and his influences to the dynamic behavior of the industrial robots. The research contents the mathematical model of these new dynamic parameters, assisted theoretical simulation of the new mathematical model after applies the rheological damper and the assisted establish of the influences of the model coefficients to the characteristics parameters. In the assisted experimental research by data acquisition were established the influences of some different dampers to the dynamic behavior and was proposed one proper smart damper system with magnetorheological damper (MRD), proper neural network with some time delays and recurrent links and soft control with acquisition board. By applying this new research was possible developing the new matrix -vector form of the torsor force- moment and the research of the global dynamic damper behavior and the global dynamic compliance of the industrial robot with proper smart damper system.