Vibration analysis of parallel linkage robots.

摘要

This paper presents a vibration analysis method of a parallel linkage robot by treating vibration components separately, one from the motion of the linkage mechanism and the other from the linkage driving systems. The main results obtained are as follows : (1) In the parallel linkage mechanism, which has two degrees of freedom, coupled vibration occurs in both linkages and the natural frequency of the linkage mechanism varies with the coefficient of dynamic coupling. (2) The vibration of the end effector, which occurs during the motion of the parallel linkage robot, consists of two types of vibration. One type of vibration occurs when the linkages are accelerated or decelerated, and the other type occurs when the link driving forces induce vibration due to disturbances in the linkage driving systems. (3) It is possible to examine both the transient and the forced vibrations using this vibration analysis method.