Impact may excite intense vibration responses of the flexible robotic arm and thus deteriorate its working performance. A vibration absorption method is put forward to alleviate impact influence of the flexible robotic arm. To dissipate the impact vibration energy, a slider mass–spring–dashpot mechanism is used as a vibration absorber and attached to the flexible robotic arm. Internal resonance is sufficiently utilized to provide a bridge for the transfer of impact vibration energy between the flexible link and the absorber via nonlinear coupling. In the presence of damping of the absorber, the impact vibration energy of the flexible link can be effectively migrated to and dissipated by the absorber. Numerical simulations and virtual prototype simulations verify its effectiveness and feasibility in alleviating impact vibration of the flexible robotic arm undergoing a collision.
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July 2017
Research-Article
A Vibration Absorption Method for Alleviating Impact of the Flexible Robotic Arm
Yushu Bian,
Yushu Bian
School of Mechanical Engineering
and Automation,
Beihang University,
Beijing 100191, China
e-mail: bian_bys@buaa.edu.cn
and Automation,
Beihang University,
Beijing 100191, China
e-mail: bian_bys@buaa.edu.cn
Search for other works by this author on:
Zhihui Gao,
Zhihui Gao
School of Mechanical Engineering
and Automation,
Beihang University,
Beijing 100191, China
and Automation,
Beihang University,
Beijing 100191, China
Search for other works by this author on:
Ming Fan
Ming Fan
The Second of Corps of
Engineers GEH PLA,
Beijing 100036, China
Engineers GEH PLA,
Beijing 100036, China
Search for other works by this author on:
Yushu Bian
School of Mechanical Engineering
and Automation,
Beihang University,
Beijing 100191, China
e-mail: bian_bys@buaa.edu.cn
and Automation,
Beihang University,
Beijing 100191, China
e-mail: bian_bys@buaa.edu.cn
Zhihui Gao
School of Mechanical Engineering
and Automation,
Beihang University,
Beijing 100191, China
and Automation,
Beihang University,
Beijing 100191, China
Ming Fan
The Second of Corps of
Engineers GEH PLA,
Beijing 100036, China
Engineers GEH PLA,
Beijing 100036, China
1Corresponding author.
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received May 31, 2016; final manuscript received November 23, 2016; published online January 20, 2017. Assoc. Editor: Hiroshi Yabuno.
J. Comput. Nonlinear Dynam. Jul 2017, 12(4): 041006 (9 pages)
Published Online: January 20, 2017
Article history
Received:
May 31, 2016
Revised:
November 23, 2016
Citation
Bian, Y., Gao, Z., and Fan, M. (January 20, 2017). "A Vibration Absorption Method for Alleviating Impact of the Flexible Robotic Arm." ASME. J. Comput. Nonlinear Dynam. July 2017; 12(4): 041006. https://doi.org/10.1115/1.4035409
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