Examination of Dynamical Parameters of the Production Line Manipulator

摘要

In the automotive industry, manipulators are essential for production lines and production processes. Manipulators ensure transport of materials, parts and tools, and are frequently based on linear rolling guides. However, the failure of any linear guide may cause stopping the production and may lead to significant production losses. Therefore, firms demand their sufficient reliability and prediction of possible failures. For ensuring these demands, at first, we need to identify and verify the dynamical parameters of production manipulators that are necessary for computing the operational loads of linear guides. The paper describes a method for identifying dynamical parameters of production manipulators on a specific manipulator. Dynamical parameters were determined by experimental and numerical methods, comparing the measured and simulated accelerations at two points on the manipulator. The measured data were cleared by finite impulse response filtering and explored by fast Fourier transformation for getting the natural oscillation frequency. This oscillation frequency could be compared with frequencies of a dynamical model at different mass and stiffness parameters. Results showed a sufficient match between measured and simulated acceleration values.