Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I
This article deals with the design of a methodology for vibration and noise measurement on a six-axis collaborative robotic arm. A vibration and noise measurement methodology is proposed for six robot positions. In each position, measurements were performed under defined equal boundary conditions. T...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/23/3/1629 |
| _version_ | 1827759426421915648 |
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| author | Vit Cernohlavek Frantisek Klimenda Pavel Houska Marcin Suszyński |
| author_facet | Vit Cernohlavek Frantisek Klimenda Pavel Houska Marcin Suszyński |
| author_sort | Vit Cernohlavek |
| collection | DOAJ |
| description | This article deals with the design of a methodology for vibration and noise measurement on a six-axis collaborative robotic arm. A vibration and noise measurement methodology is proposed for six robot positions. In each position, measurements were performed under defined equal boundary conditions. The boundary conditions were related to the velocities of the joints and the load on the robotic arm. The second part of the article is an evaluation of the initial experimental results. So far, only the acceleration of the sixth joint of the robotic arm—Wrist 3—has been measured. The aim of the measurements was to verify if the methodology presented can be used for vibration measurements. From the evaluation of the experimental measurements, it was determined that the given methodology can be used for vibration measurements. It was also found that the acceleration is transmitted in the axes other than the axis of motion of the robotic arm. In future experiments, the vibration at the other joints of the robotic arm will be measured and the noise of the robotic arm will be measured to confirm whether the proposed methodology is indeed functional. |
| first_indexed | 2024-03-11T09:25:17Z |
| format | Article |
| id | doaj.art-70a5de652ce54a068144d0651281f241 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-11T09:25:17Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-70a5de652ce54a068144d0651281f2412023-11-16T18:03:51ZengMDPI AGSensors1424-82202023-02-01233162910.3390/s23031629Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part IVit Cernohlavek0Frantisek Klimenda1Pavel Houska2Marcin Suszyński3Faculty of Mechanical Engineering, University of Jan Evangelista Purkyne in Ustí nad Labem, Pasteurova 1, 40096 Ustí nad Labem, Czech RepublicFaculty of Mechanical Engineering, University of Jan Evangelista Purkyne in Ustí nad Labem, Pasteurova 1, 40096 Ustí nad Labem, Czech RepublicFaculty of Mechanical Engineering, University of Jan Evangelista Purkyne in Ustí nad Labem, Pasteurova 1, 40096 Ustí nad Labem, Czech RepublicInstitute of Mechanical Technology, Poznan University of Technology, 60965 Poznan, PolandThis article deals with the design of a methodology for vibration and noise measurement on a six-axis collaborative robotic arm. A vibration and noise measurement methodology is proposed for six robot positions. In each position, measurements were performed under defined equal boundary conditions. The boundary conditions were related to the velocities of the joints and the load on the robotic arm. The second part of the article is an evaluation of the initial experimental results. So far, only the acceleration of the sixth joint of the robotic arm—Wrist 3—has been measured. The aim of the measurements was to verify if the methodology presented can be used for vibration measurements. From the evaluation of the experimental measurements, it was determined that the given methodology can be used for vibration measurements. It was also found that the acceleration is transmitted in the axes other than the axis of motion of the robotic arm. In future experiments, the vibration at the other joints of the robotic arm will be measured and the noise of the robotic arm will be measured to confirm whether the proposed methodology is indeed functional.https://www.mdpi.com/1424-8220/23/3/1629six-axis robotic armvibration and noisedominant frequency |
| spellingShingle | Vit Cernohlavek Frantisek Klimenda Pavel Houska Marcin Suszyński Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I Sensors six-axis robotic arm vibration and noise dominant frequency |
| title | Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I |
| title_full | Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I |
| title_fullStr | Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I |
| title_full_unstemmed | Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I |
| title_short | Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I |
| title_sort | vibration measurements on a six axis collaborative robotic arm part i |
| topic | six-axis robotic arm vibration and noise dominant frequency |
| url | https://www.mdpi.com/1424-8220/23/3/1629 |
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