VIBRATIONS AND IMPULSIVE RESPONSE OF THICK MANIPULATORS WITH DAMPING

摘要

Impulsive damped response and Vibration frequencies of thick flexible robot manipulators with heavy masses and rotatory inertias, and classical viscous damping, have been analysed with particular consideration of the shear deformation vibration behavior by finite element method. Two links flexible robot manipulator systems with viscous damping and geometric nonlinearity added thick beam models for several boundary conditions are incorporated into the analysis, considering the new aspects of research in the literature in the inplane and out of plane vibrations of the related systems. Experiments on robot manipulator mechanism, have been carried out for the related practical puposes. Comparisons have been made between experimental and numerical values available in the literature. It has been, also, shown that the asumption of the separate displacement fields as compared to the total displacement fields asumption of general solution procedure of the thick beam theory, leads to the substantially better frequency and response values for some of the special flexible open loop robot manipulator mechanisms as used in practice as, also, a new work in the area.