Reducing settling time in high acceleration applications of macro scale robotic manipulators with dynamic balancing

Reducing settling time in high acceleration applications of macro scale robotic manipulators with dynamic balancing

Zomerdijk, Matthijs (TU Delft Mechanical, Maritime and Materials Engineering)

van der Wijk, V. (mentor)
Herder, J.L. (graduation committee)
Kober, J. (graduation committee)
Caneva, S. (graduation committee)

Delft University of Technology

Mechanical Engineering | Mechatronic System Design (MSD)

2020-12-16

High accelerations in unbalanced robotic manipulators can induce significant base vibrations, which reduces precision and increases settling time. These vibrations are caused by fluctuating reaction forces and reaction moments exerted on the base by the manipulator. Dynamic balancing eliminates these fluctuations and therefore improves performance. However, dynamic balancing, in general, comes at the cost of additional moving mass in the manipulator, which reduces controllability. Combining balancing with optimal controllability therefore requires an integral design approach. In this thesis, the controllability of multiple balancing principles are compared. Based on these findings a design for a balanced rotatable link will be presented, which aims to combine dynamic balancing with optimal controllability. Experimental verification of the balanced design showed a reduction of 99.3% in reaction forces and 97.8% in reaction moments compared to the unbalanced mechanism. Transverse tip accelerations up to 21 G are achieved in experiments, showing the potential for high acceleration applications.

Dynamic balancing
Controllability
Natural Frequency
Shaking force balancing
Shaking moment balancing

http://resolver.tudelft.nl/uuid:5cadc48b-098a-4a82-adfa-c68500d8764f

Student theses

master thesis

© 2020 Matthijs Zomerdijk