Vibration Reduction of Robot End Effector Based on Co-simulation Method

Abstract

Hydraulic cylinder replacement robot as a new type of engineering machinery has been increasingly used, but its end effector encounters vibrations in the process of clamping the object, so the accuracy of disassembling and assembling the cylinder will be reduced, thus reducing the replacement efficiency and affecting the user’s experience. To address this problem, virtual prototyping technology is used to study the cylinder disassembly process under real working conditions. We use the 3D modeling software Solidworks to construct a model of the cylinder replacement robot. After that, kinematic analysis of the model is carried out, then a dynamics model is built in multi-body dynamics simulation software ADAMS to simulate the process of the robot grasping the object, as a consequence, the trajectory of the end effector is calculated. A controlled dynamic model is established with Simulink and Adams by using the co-simulation technique, and optimization is carried out by using the model. Results show that the optimized control parameter can effectively reduce the end effector vibration and improve the stability and accuracy of the work.