APPROACH TO THE VIBRATION ANALYSIS OF A ROBOT ARM BASED ON A LINEARIZED DYNAMIC EQUATION. .

K. H. Chang; H. Funakubo; T. Dohi; T. Komeda; I. Sakuma

APPROACH TO THE VIBRATION ANALYSIS OF A ROBOT ARM BASED ON A LINEARIZED DYNAMIC EQUATION. .

K. H. Chang, H. Funakubo, T. Dohi, T. Komeda, I. Sakuma

Department of Bioscience and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

An effective approach to vibration analysis of a robot arm is presented which combines a linearized Newton-Euler equation with time-variable elastic deformation of the links and joints. In order to identify the coefficients of rigidity of the joints and to verify the results of the vibration analysis, an experimental method is introduced which utilizes a multiple acceleration meter system to investigate the elastic characteristic of joints and the transfer functions of the robot arm.

Original language	English
Title of host publication	Unknown Host Publication Title
Editors	H. Van Brussel
Publisher	IFS Publ Ltd, & Springer-Verlag, West Ger & New York
Pages	355-364
Number of pages	10
ISBN (Print)	0948507152
Publication status	Published - 1986 Dec 1

ASJC Scopus subject areas

Engineering(all)

Cite this

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AU - Sakuma, I.

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N2 - An effective approach to vibration analysis of a robot arm is presented which combines a linearized Newton-Euler equation with time-variable elastic deformation of the links and joints. In order to identify the coefficients of rigidity of the joints and to verify the results of the vibration analysis, an experimental method is introduced which utilizes a multiple acceleration meter system to investigate the elastic characteristic of joints and the transfer functions of the robot arm.

AB - An effective approach to vibration analysis of a robot arm is presented which combines a linearized Newton-Euler equation with time-variable elastic deformation of the links and joints. In order to identify the coefficients of rigidity of the joints and to verify the results of the vibration analysis, an experimental method is introduced which utilizes a multiple acceleration meter system to investigate the elastic characteristic of joints and the transfer functions of the robot arm.

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ER -

APPROACH TO THE VIBRATION ANALYSIS OF A ROBOT ARM BASED ON A LINEARIZED DYNAMIC EQUATION. .

Abstract

ASJC Scopus subject areas

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