A SYSTEMATIC STRATEGY TO FIND THE NATURAL FREQUENCIES OF AN INDUSTRIAL ROBOT
Published In: INTERNATIONAL CONFERENCE ON ADVANCES IN MECHANICAL AND ROBOTICS ENGINEERING
Author(s): ALAA ABDULHADY JABER , ROBERT BICKER
Abstract: In order to design a reliable monitoring or control system for any machine, some characteristics of the machine have to be known, such as machine natural frequencies. In this paper, firstly static evaluation of the PUMA 560 robot, which has been used in this research study, when it is powered on, was accomplished. Then, the experimental modal analysis is performed to obtain the natural frequencies of the robot. Experimental modal analysis consist of: exciting the robot by hand held impact hammer, measuring frequency response function (FRF) between the excitation and a point on the robot, and then using software to find the natural frequencies. This analysis was conducted when the robot at four different configurations. Moreover, the explanation of the method and setup used for the experiments, which measurement equipment are used, and how FRFs are calculated will be presented in this paper. Finally, easy to follow strategy have been proposed to be used for modal analysis of different
- Publication Date: 13-Oct-2013
- DOI: 10.15224/978-981-07-7965-8-60
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IMPACT OF BALL-SCREW PRE-LOADING ON THERMAL BEHAVIOR SIMULATION OF VERTICAL MACHINING CENTER DURING END-MILLING OPERATION
Published In: INTERNATIONAL CONFERENCE ON ADVANCES IN MECHANICAL AND ROBOTICS ENGINEERING
Author(s): P GANESAN , P R THYLA , SUNILKUMAR S HONNUNGAR , V PRABHU RAJA
Abstract: Thermal drift at tool centre point (TCP) is caused mainly due to positional errors in feed drive system of machine tool. The important sources of these errors are frictional heat generated at contact areas such as ball screw-nut, bearing races and balls. In addition to this, heat losses of motor also contribute resulting in thermo-elastic deformation in feed drive system. The objective of the work presented here is to predict and analyse the thermal behavior at key locations of feed drive system by considering pre-load on ball-screw of feed-drive system. The boundary conditions in simulation were applied considering the losses incurred in bearing, nut as well in motor during end milling operation considering with and without pre-loading of ball-screw. The simulation model was developed and validated with the experimental data recorded on feed drive system of a Vertical Machining Center (VMC) considering non-cutting operation prior to this. The developed model may be used for design opt
- Publication Date: 13-Oct-2013
- DOI: 10.15224/978-981-07-7965-8-62
- Views: 0
- Downloads: 0