Vibration‐free handing of deformable beams by robot end‐effectors

摘要

Abstract Passive approaches for vibration‐free handling of deformable beams are investigated in this article. Dynamic equations of a flexible beam handled by robot end‐effectors are formulated and analyzed first. From the analysis, it is revealed that the inertia forces caused by the beam motion may affect the vibration of the beam in certain motion patterns. Motion trajectories of the end‐effector that lead to a small or no vibration of the beam in these motion patterns are then specified. Because vibrations cannot be totally eliminated even if the vibration‐free motion trajectory is employed, another passive approach is further suggested. The approach employs a rubber pad in parallel with a spring installed on the fingers of the end‐effector. To understand the effectiveness of this passive approach, damped vibration and optimal damping are investigated. Experiments and simulations are conducted to verify the above two methods. The experiments display the vibration‐free motion of the beam using the proposed motion planning strategy. The simulation results demonstrate the effects of the vibration‐free trajectory and the passive damping. © 1995 John Wiley & Sons, Inc.