Multi-degree of freedom vibration model for a 3-DOF hybrid robot

Yuan Yun; Yangmin Li

doi:10.1109/AIM.2009.5229864

Multi-degree of freedom vibration model for a 3-DOF hybrid robot

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

11 Citations (Scopus)

Abstract

In recent years, many applications in precision engineering require a careful isolation of the instrument from the vibration sources by adopting active vibration isolation system to achieve a very low remaining vibration level especially for the very low frequency under 10Hz vibration signals. In this paper, based on our previous research experiences in the systematical modeling and study of parallel robots, a hybrid robot is described and the vibration model is given by using Lagrange's Equations. Then a dynamic analysis by using Kane's method is presented to verify the result. Finally, numerical simulations on the dynamic characteristics and natural frequency are presented.

Original language	English
Title of host publication	2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages	1474-1479
Number of pages	6
DOIs	https://doi.org/10.1109/AIM.2009.5229864
Publication status	Published - 4 Nov 2009
Externally published	Yes
Event	2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore Duration: 14 Jul 2009 → 17 Jul 2009

Conference

Conference	2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Country/Territory	Singapore
City	Singapore
Period	14/07/09 → 17/07/09

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Computer Science Applications
Software

More information

10.1109/AIM.2009.5229864

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AB - In recent years, many applications in precision engineering require a careful isolation of the instrument from the vibration sources by adopting active vibration isolation system to achieve a very low remaining vibration level especially for the very low frequency under 10Hz vibration signals. In this paper, based on our previous research experiences in the systematical modeling and study of parallel robots, a hybrid robot is described and the vibration model is given by using Lagrange's Equations. Then a dynamic analysis by using Kane's method is presented to verify the result. Finally, numerical simulations on the dynamic characteristics and natural frequency are presented.

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Multi-degree of freedom vibration model for a 3-DOF hybrid robot

Abstract

Conference

ASJC Scopus subject areas

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