Influence of reducer and bolt stiffness on manipulator arm's dynamic performance
Since the tandem six-degree-of-freedom manipulator arm has poor rigidity at its end,serious-jitter will occur in the process of high-speed motion,especially in the start-stop phase.In order to prevent the manipulator arm from jitter in the design stage,the manipulator arm's dynamic performance should be calculated and optimized in an accurate manner.In this article,both the torsional stiffness of the reducer and the bolt stiffness are added to the simulation and analysis;five simulation models are set up by means of Hyperworks,and the finite-element software ABAQUS is used to solve the simulation models,so as to work out the manipulator arm's first four natural frequencies and vibration modes.Though a series of experimental tests,the manipulator arm's first four natural frequencies are compared with the results obtained from the simulation and analysis,in order to find out an effective method for accurately calculating the manipulator arm's dynamic performance.Besides,the simulation method is used to identify the weak link of structural stiffness,so as to complete the manipulator arm's structural optimization and the re-ducer's model selection,shorten the cycle of research and development,and reduce the design cost.
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