Vibration Measurements on a Six-Axis Collaborative Robotic Arm-Part I

Area of Science:

• Robotics
• Mechanical Engineering
• Vibration Analysis
• Acoustics

Background:

• Collaborative robotic arms are increasingly used in various industries.
• Understanding vibration and noise is crucial for performance and safety.
• Standardized measurement methodologies for these arms are lacking.

Purpose of the Study:

• To design and propose a methodology for vibration and noise measurement on a six-axis collaborative robotic arm.
• To evaluate the initial experimental results of the proposed methodology.
• To verify the applicability of the methodology for vibration measurements.

Main Methods:

• A methodology was designed for vibration and noise measurement across six distinct robot positions.
• Measurements were conducted under consistent boundary conditions, including joint velocities and arm load.
• Initial experiments focused on measuring acceleration at the sixth joint (Wrist 3).

Main Results:

• The proposed methodology was validated as suitable for vibration measurements.
• Experimental data revealed that acceleration transmits across axes, not just along the axis of motion.
• Initial tests focused solely on acceleration at Wrist 3.

Conclusions:

• The developed methodology is effective for assessing vibration in collaborative robotic arms.
• Further research will involve measuring vibration at other joints and assessing noise levels.
• Confirming the methodology's functionality for noise measurement is a future objective.