The use of mobile robots is increasing in production facilities due to benefits such as productivity and human safety. Advances in technology allow engineers to develop robots specific to manufacturers' operational requirements and applications. The point-to-point movement of mobile robots can cause vibrations due to their flexibility while carrying different equipment on them. Unwanted vibrations affect sensitivity at the endpoint of the equipment. Trying to minimize these vibrations may result in cost-up in design by making the system heavier while making it more rigid or requires complex control systems, more sensors and, actuators. In this study, a cart carrying a payload with a rigid beam is modeled in MATLAB/SimScape. Bodies and joints are created for multibody dynamic analysis. The flexibility of the system is provided by the stiffness and damping elements defined in the rotary joint between the cart and rigid beam. Trapezoidal velocity profiles applied to the cart on a straight path and dynamic responses of the mass are examined. Suppressing of endpoint vibration is achieved by calculating different deceleration times depending on the damped natural frequency of the flexible system. Significant reductions in endpoint vibrations for undamped and lightly damped cases have been observed by choosing appropriate deceleration times.
Anahtar Kelimeler: Beam-Mass-Cart, Velocity Profile, Dynamic Analysis, Residual Vibration, Simscape
|
