Research on Forced Vibration Model of End Effector Under Low-Frequency Excitation and Vibration-Suppression Technology
The positioning accuracy of the end effector is the core index that affects the robot’s performance. However, to achieve lightweight and functional requirements, the construction of end effectors is becoming more complex. Lightweight design through slotting is becoming more common. This leads to the...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-01-01
|
| Series: | Micromachines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-666X/16/2/131 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850080964111237120 |
|---|---|
| author | Changqi Li Henan Song Ruirui Li Jianwei Wu Xiaobiao Shan Jiubin Tan |
| author_facet | Changqi Li Henan Song Ruirui Li Jianwei Wu Xiaobiao Shan Jiubin Tan |
| author_sort | Changqi Li |
| collection | DOAJ |
| description | The positioning accuracy of the end effector is the core index that affects the robot’s performance. However, to achieve lightweight and functional requirements, the construction of end effectors is becoming more complex. Lightweight design through slotting is becoming more common. This leads to the fact that the traditional mathematical model cannot accurately characterize the vibration of the end effector. This study proposed the multi-stepwise beam model. It employed the separation of variables and element transmitting method to obtain the mathematical model of the modal shape functions and the natural frequencies. Meanwhile, the vibration response of the end effector under fixed-end excitation was analyzed, and the conclusions were made through experimental research. The direct inverse controller was presented to achieve vibration suppression. The experimental results indicate that the amplitude suppression rate reaches 50%. The system’s equations of motion were solved numerically to analyze the exact relationships for the response and excitation of the beam considered. |
| format | Article |
| id | doaj-art-70592a2001244b87b0d059a048498a3f |
| institution | DOAJ |
| issn | 2072-666X |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj-art-70592a2001244b87b0d059a048498a3f2025-08-20T02:44:50ZengMDPI AGMicromachines2072-666X2025-01-0116213110.3390/mi16020131Research on Forced Vibration Model of End Effector Under Low-Frequency Excitation and Vibration-Suppression TechnologyChangqi Li0Henan Song1Ruirui Li2Jianwei Wu3Xiaobiao Shan4Jiubin Tan5The Key Lab of Ultra-Precision Intelligent Instrumentation Engineering (Harbin Institute of Technology), Ministry of Industry and Information Technology, Harbin 150001, ChinaThe Key Lab of Ultra-Precision Intelligent Instrumentation Engineering (Harbin Institute of Technology), Ministry of Industry and Information Technology, Harbin 150001, ChinaThe Key Lab of Ultra-Precision Intelligent Instrumentation Engineering (Harbin Institute of Technology), Ministry of Industry and Information Technology, Harbin 150001, ChinaThe Key Lab of Ultra-Precision Intelligent Instrumentation Engineering (Harbin Institute of Technology), Ministry of Industry and Information Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaThe Key Lab of Ultra-Precision Intelligent Instrumentation Engineering (Harbin Institute of Technology), Ministry of Industry and Information Technology, Harbin 150001, ChinaThe positioning accuracy of the end effector is the core index that affects the robot’s performance. However, to achieve lightweight and functional requirements, the construction of end effectors is becoming more complex. Lightweight design through slotting is becoming more common. This leads to the fact that the traditional mathematical model cannot accurately characterize the vibration of the end effector. This study proposed the multi-stepwise beam model. It employed the separation of variables and element transmitting method to obtain the mathematical model of the modal shape functions and the natural frequencies. Meanwhile, the vibration response of the end effector under fixed-end excitation was analyzed, and the conclusions were made through experimental research. The direct inverse controller was presented to achieve vibration suppression. The experimental results indicate that the amplitude suppression rate reaches 50%. The system’s equations of motion were solved numerically to analyze the exact relationships for the response and excitation of the beam considered.https://www.mdpi.com/2072-666X/16/2/131end effectormulti-stepwise beamfixed-end excitationvibration responsevibration suppression |
| spellingShingle | Changqi Li Henan Song Ruirui Li Jianwei Wu Xiaobiao Shan Jiubin Tan Research on Forced Vibration Model of End Effector Under Low-Frequency Excitation and Vibration-Suppression Technology Micromachines end effector multi-stepwise beam fixed-end excitation vibration response vibration suppression |
| title | Research on Forced Vibration Model of End Effector Under Low-Frequency Excitation and Vibration-Suppression Technology |
| title_full | Research on Forced Vibration Model of End Effector Under Low-Frequency Excitation and Vibration-Suppression Technology |
| title_fullStr | Research on Forced Vibration Model of End Effector Under Low-Frequency Excitation and Vibration-Suppression Technology |
| title_full_unstemmed | Research on Forced Vibration Model of End Effector Under Low-Frequency Excitation and Vibration-Suppression Technology |
| title_short | Research on Forced Vibration Model of End Effector Under Low-Frequency Excitation and Vibration-Suppression Technology |
| title_sort | research on forced vibration model of end effector under low frequency excitation and vibration suppression technology |
| topic | end effector multi-stepwise beam fixed-end excitation vibration response vibration suppression |
| url | https://www.mdpi.com/2072-666X/16/2/131 |
| work_keys_str_mv | AT changqili researchonforcedvibrationmodelofendeffectorunderlowfrequencyexcitationandvibrationsuppressiontechnology AT henansong researchonforcedvibrationmodelofendeffectorunderlowfrequencyexcitationandvibrationsuppressiontechnology AT ruiruili researchonforcedvibrationmodelofendeffectorunderlowfrequencyexcitationandvibrationsuppressiontechnology AT jianweiwu researchonforcedvibrationmodelofendeffectorunderlowfrequencyexcitationandvibrationsuppressiontechnology AT xiaobiaoshan researchonforcedvibrationmodelofendeffectorunderlowfrequencyexcitationandvibrationsuppressiontechnology AT jiubintan researchonforcedvibrationmodelofendeffectorunderlowfrequencyexcitationandvibrationsuppressiontechnology |