Study of Vibrations of a Robotic Arm, Using the Lagrange Equations with Respect to a Non-inertial Reference Frame

摘要

The paper studies the free vibrations of a robotic arm, located on a rotating platform. The robotic arm is modeled as a system with a finite number of degrees of freedom, consisting of elastically coupled rigid bodies. The differential equations of the free vibrations are obtained using the Lagrange equations formalism, in a generalized form, valid with respect to a non-inertial reference frame. The influence of the kinematic parameters of the platform motion upon the eigenfrequencies of the robotic arm is analyzed, considering two configurations of the system.