Abstract
The actual required productivity, accuracy and reliability impose that the robots must be optimized concerning the dynamic behavior. The joints and robots bodies are necessary to be optimized for their usability performance to assure the productivity requirements. The global dynamic compliance (GDC) is one of the most important dynamic parameters of the dynamic behavior of the industrial robots. The viscose global dynamic damper coefficient (VGDDC) is other important parameter of the dynamic behavior what must be optimized to obtain the desired dynamic behavior, the avoiding of the resonance frequencies. The paper shows one new assisted method of the GDC analyzes of the industrial robot with LabVIEW virtual instrumentation (VI) in three different cases: with/without smart magnetorheological damper (MRD) and with aero damper. The created VI-s assures to obtain the assisted research of the dynamic behavior. With this research was possible to determine in the frequencies domain, the robot GDC and the viscose global dynamic damper equivalent coefficient (VGDDEC) value in a case with MRD and finally the transmission of the vibration from the floor to the robot’s tool center point (TCP). This method and the created virtual LabVIEW instrumentation are generally and they are possible to apply in many others dynamic behavior researches.
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