Measuring and comparison of vibrations at different driven of an industrial robot

In this study, two solid models were created from an industrial robot arm with three degrees of freedom designed to be solid modeled (the model with the drives transmitted with the help of belt pulley and the model with the drive with the help of a screw shaft) from different regions. Rigid dynamic analysis (motion analysis) for each model was performed separately for these models with the help of Ansys workbench interface. Based on this modal analysis, forced harmonic analysis was performed for both models. In harmonic analysis, one modal analysis was applied for both methods. For these two models, a total of five different analyzes were carried out. In the rigid dynamic analysis, the forces and acceleration values on the motors during the movement of the robot arm were obtained and the data of two different models were compared. The issue of power saving on two models with rigid dynamic analysis is examined. In the modal analysis, deformation phases were obtained in the first 6 modes of the system and the deformation amplitudes of the system, free vibration ratios depending on natural frequencies and the smallest natural frequency of the structure were obtained according to the frequency values. In the forced harmonic analyzes performed separately for both models, the resonance state of the system exposed to different external forces was examined and stress values were obtained with the amplitude-dependent deformation at certain critical frequencies. The vibration rates of the two models under equal conditions and under the loads occurring in the motion analysis were compared. Thus, the vibration, deformation and stress rates on two robot arm models, which have the same material structure, degrees of freedom, arm weights and all similar conditions, but differ only in terms of drive points, were investigated and the effects of these rates on the system were compared and interpreted.