Vibration-free movement of deformable beams by robot manipulator
MZ Chen, YF Zheng - [1993] Proceedings IEEE International …, 1993 - ieeexplore.ieee.org
MZ Chen, YF Zheng
[1993] Proceedings IEEE International Conference on Robotics and …, 1993•ieeexplore.ieee.orgPassive approaches for vibration-free handling of deformable beams are investigated.
Dynamic equations are formulated. Trajectory plannings of the end-effector which lead to a
small vibration of the beam in three-motion patterns are specified. Since vibrations cannot
be totally eliminated, another passive approach, which uses a rubber pad in parallel with a
spring installed on the fingers of the end-effector, is suggested. To understand the
effectiveness of this passive approach, damped vibration and optimal damping are studied …
Dynamic equations are formulated. Trajectory plannings of the end-effector which lead to a
small vibration of the beam in three-motion patterns are specified. Since vibrations cannot
be totally eliminated, another passive approach, which uses a rubber pad in parallel with a
spring installed on the fingers of the end-effector, is suggested. To understand the
effectiveness of this passive approach, damped vibration and optimal damping are studied …
Passive approaches for vibration-free handling of deformable beams are investigated. Dynamic equations are formulated. Trajectory plannings of the end-effector which lead to a small vibration of the beam in three-motion patterns are specified. Since vibrations cannot be totally eliminated, another passive approach, which uses a rubber pad in parallel with a spring installed on the fingers of the end-effector, is suggested. To understand the effectiveness of this passive approach, damped vibration and optimal damping are studied. Two experiments are conducted to verify the above methods.< >
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