2R robot kolun titreşiminin azaltılmasında lineer dinamik titreşim absorberi uygulamasının sayısal ve deneysel incelenmesi

Yıl 2025, Cilt: 40 Sayı: 4, 2527 - 2540, 31.12.2025

Özer Yücel Aydın Demir

https://doi.org/10.17341/gazimmfd.1657096

https://izlik.org/JA59XB74TC

Öz

Bu çalışma, temel olarak efektör ucunda harmonik olarak yüklenen 2R robot kolundaki lineer titreşim yutucusu uygulamalarını ele almaktadır. Yüksek hız ve yüksek doğruluk koşullarında, robot kollarının hareketlerini düzenlemek ve iyileştirmek önemlidir. Bu amaçla 2R robot kolunda titreşimlerin sınırlandırılması ve azaltılması için pratik bir çözüm önerilmiştir. Robotun ön koluna veya arka koluna lineer dinamik titreşim absorberi uygulandı. Dinamik titreşim absorberi ve dengeleme yayına sahip 2R robot kol sisteminin düzlem içi dinamik modeli ve doğrusal olmayan diferansiyel hareket denklemleri Lagrange formülasyonlarından türetilmiştir. 2R robot kolunun ön kol veya arka kol üzerine konumlandırılmasına bağlı olarak dengeleme yayının ve dinamik titreşim sönümleyicinin, kolun titreşimi üzerindeki etkisini göstermek amacıyla deneysel çalışmalar da yürütülmüştür. Dinamik titreşim absorberi ve dengeleme yayının 2R robot kolunun dinamik tepkisi üzerindeki etkileri hem teorik hem de deneysel olarak belirli koşullar altında detaylı olarak incelenmiştir. Çalışmanın sonuçları, robotların hareket kontrol tekniklerine ve robot tasarımlarının geliştirilmesine önemli katkılar sağlayabilir.

Anahtar Kelimeler

Dinamik titreşim absorberi , robot kol , dengeleme yayı

Numerical and experimental investigation of linear dynamic vibration absorber application in reducing vibration of 2R robot arm

https://izlik.org/JA59XB74TC

Öz

This study mainly deals with vibration absorber applications in 2R robot arm loaded harmonically at the effector end. In conditions of high speed and high accuracy, it is important to regulate and improve the movements of the robot arms. For this purpose, a practical solution has been proposed for limiting and reducing vibrations in the 2R robot arm. Linear dynamic vibration absorbers were applied to the robot's forearm or rear arm. In-plane dynamic model and nonlinear differential motion equations of the 2R robot arm system with dynamic vibration absorber and compensation spring are derived from Lagrange formulations. Experimental studies were also carried out to show the effect of the compensation spring and dynamic vibration absorber on the vibration of the 2R robot arm, depending on its positioning on the front arm or the back arm. The effects of dynamic vibration absorbers and compensation spring on the dynamic response of the 2R robot arm were examined in detail both theoretically and experimentally under certain circumstances. The results of the study can significantly contributed to movement control techniques of robots and improve of robot designs.

Anahtar Kelimeler

Dynamic vibration absorber , robot arm , compensation spring

Kaynakça

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