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Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I

This article deals with the design of a methodology for vibration and noise measurement on a six-axis collaborative robotic arm. A vibration and noise measurement methodology is proposed for six robot positions. In each position, measurements were performed under defined equal boundary conditions. T...

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Autores principales: Cernohlavek, Vit, Klimenda, Frantisek, Houska, Pavel, Suszyński, Marcin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9919816/
https://www.ncbi.nlm.nih.gov/pubmed/36772669
http://dx.doi.org/10.3390/s23031629
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author Cernohlavek, Vit
Klimenda, Frantisek
Houska, Pavel
Suszyński, Marcin
author_facet Cernohlavek, Vit
Klimenda, Frantisek
Houska, Pavel
Suszyński, Marcin
author_sort Cernohlavek, Vit
collection PubMed
description This article deals with the design of a methodology for vibration and noise measurement on a six-axis collaborative robotic arm. A vibration and noise measurement methodology is proposed for six robot positions. In each position, measurements were performed under defined equal boundary conditions. The boundary conditions were related to the velocities of the joints and the load on the robotic arm. The second part of the article is an evaluation of the initial experimental results. So far, only the acceleration of the sixth joint of the robotic arm—Wrist 3—has been measured. The aim of the measurements was to verify if the methodology presented can be used for vibration measurements. From the evaluation of the experimental measurements, it was determined that the given methodology can be used for vibration measurements. It was also found that the acceleration is transmitted in the axes other than the axis of motion of the robotic arm. In future experiments, the vibration at the other joints of the robotic arm will be measured and the noise of the robotic arm will be measured to confirm whether the proposed methodology is indeed functional.
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spelling pubmed-99198162023-02-12 Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I Cernohlavek, Vit Klimenda, Frantisek Houska, Pavel Suszyński, Marcin Sensors (Basel) Article This article deals with the design of a methodology for vibration and noise measurement on a six-axis collaborative robotic arm. A vibration and noise measurement methodology is proposed for six robot positions. In each position, measurements were performed under defined equal boundary conditions. The boundary conditions were related to the velocities of the joints and the load on the robotic arm. The second part of the article is an evaluation of the initial experimental results. So far, only the acceleration of the sixth joint of the robotic arm—Wrist 3—has been measured. The aim of the measurements was to verify if the methodology presented can be used for vibration measurements. From the evaluation of the experimental measurements, it was determined that the given methodology can be used for vibration measurements. It was also found that the acceleration is transmitted in the axes other than the axis of motion of the robotic arm. In future experiments, the vibration at the other joints of the robotic arm will be measured and the noise of the robotic arm will be measured to confirm whether the proposed methodology is indeed functional. MDPI 2023-02-02 /pmc/articles/PMC9919816/ /pubmed/36772669 http://dx.doi.org/10.3390/s23031629 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Cernohlavek, Vit
Klimenda, Frantisek
Houska, Pavel
Suszyński, Marcin
Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I
title Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I
title_full Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I
title_fullStr Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I
title_full_unstemmed Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I
title_short Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I
title_sort vibration measurements on a six-axis collaborative robotic arm—part i
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9919816/
https://www.ncbi.nlm.nih.gov/pubmed/36772669
http://dx.doi.org/10.3390/s23031629
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