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Dynamic analysis of an axially moving robot manipulator supported by bearings

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Abstract

In this study, a robot manipulator is modelled as a cantilever beam, which moves in an axial direction, has a lumped mass at the end, and is supported by intermediate springs. Considering the tip mass and intermediate springs in the modeling, we derive the equations of motion in which the rigid-body motion is coupled with the flexible motions, and then analyze the transverse vibrations of the beam. Furthermore, we study the tip mass effects on the natural frequencies and the corresponding mode shapes. The natural frequency loci veering is analyzed for variations in the tip mass and the spring position/stiffness. In addition, we investigate the exchange and localization of modes around these veering regions as well as the parameter effects on the mode shapes. Using a Short-time Fourier transform (STFT), the relationship between the dynamic characteristics and dynamic responses are described. It is found that the dynamic characteristics of the beam are dependent on the veering distance. It is also shown via dynamic responses that the mode exchanges occur when a veering distance is close.

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Correspondence to Jintai Chung.

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Recommended by Associate Editor Sungsoo Na

Jaewon Kim received his B.S. degree in 2012 from the Department of Mechanical Engineering at Hanyang University. He is currently a Ph.D. candidate in the Department of Mechanical Engineering at Hanyang University. His research interests are the dynamics of robot manipulator and the vibration and noise reductions of rotating machines and vehicles.

Jintai Chung received his B.S. and M.S. degrees from the Department of Mechanical Engineering at Seoul National University in 1984 and 1986, respectively. He obtained his Ph.D. degree from the Department of Mechanical Engineering at University of Michigan, Ann Arbor in 1992. He is currently a Professor in the Department of Mechanical Engineering at Hanyang University. His research interests are vibration and noise reductions of rotating machines, vehicles and home appliances.

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Kim, J., Chung, J. Dynamic analysis of an axially moving robot manipulator supported by bearings. J Mech Sci Technol 31, 3143–3155 (2017). https://doi.org/10.1007/s12206-017-0604-4

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  • DOI: https://doi.org/10.1007/s12206-017-0604-4

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