Taschenbuch. Condizione: Neu. This item is printed on demand - it takes 3-4 days longer - Neuware -In this work, model-based natural frequency analysis of a six-axis industrial robot, namely the model ABB IRB 6620, in the workspace is considered. First of all, a short review about the kinematic and dynamic equation of rigid body motion is given. Necessary relations and equations regarding relative motion are recapitulated. We then develop the kinematic and dynamic model by means of Denavit-Hartenberg algorithm and implement it into the definite robot. The next step is the implementation of the robotic model in MATLAB in order to identify natural frequencies of the robot's structure. To do so, linearization method, which was helpful to solve the non-linear equation of motion, was adopted. In order to find eigenfrequencies, a certain joint configuration within the workspace is applied for a four-axis robot in case of rigid joints and links. Afterwards, we improve simulation results by extension of the existing model regarding joint stiffness, elastic deformation of the robotic arm parts. Finally, we step forward to investigate eigenfrequencies of the robot within its workspace for both rigid case and joints' stiffness and damping case. 156 pp. Englisch. Codice articolo 9783330080874

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Model-based eigenfrequency analysis of a six-axis robot in workspace

Amirhossein Aghdasi

Editore: LAP Lambert Academic Publishing, 2017

ISBN 10: 3330080876 ISBN 13: 9783330080874

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Taschenbuch. Condizione: Neu. nach der Bestellung gedruckt Neuware - Printed after ordering - In this work, model-based natural frequency analysis of a six-axis industrial robot, namely the model ABB IRB 6620, in the workspace is considered. First of all, a short review about the kinematic and dynamic equation of rigid body motion is given. Necessary relations and equations regarding relative motion are recapitulated. We then develop the kinematic and dynamic model by means of Denavit-Hartenberg algorithm and implement it into the definite robot. The next step is the implementation of the robotic model in MATLAB in order to identify natural frequencies of the robot's structure. To do so, linearization method, which was helpful to solve the non-linear equation of motion, was adopted. In order to find eigenfrequencies, a certain joint configuration within the workspace is applied for a four-axis robot in case of rigid joints and links. Afterwards, we improve simulation results by extension of the existing model regarding joint stiffness, elastic deformation of the robotic arm parts. Finally, we step forward to investigate eigenfrequencies of the robot within its workspace for both rigid case and joints' stiffness and damping case. Codice articolo 9783330080874

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Model-based eigenfrequency analysis of a six-axis robot in workspace

Amirhossein Aghdasi

Editore: LAP LAMBERT Academic Publishing, 2017

ISBN 10: 3330080876 ISBN 13: 9783330080874

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Condizione: New. Dieser Artikel ist ein Print on Demand Artikel und wird nach Ihrer Bestellung fuer Sie gedruckt. Autor/Autorin: Aghdasi Amirhossein* B. Sc. in Mechanical Engineering (Heat and Fluid Mechanics) Iran/* M. Sc. in Mechanical Engineering with emphasis on structural analysis (Modal analysis) Sweden/* M. Sc. in Mechanical Engineering with emphasis . Codice articolo 151236929

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