Tuned Vibration-Absorbing Bar
Original Publication Date: 1985-Feb-01
Included in the Prior Art Database: 2005-Feb-18
This article describes a tuned vibration-absorbing bar for a cantilevered box-frame robot manipulator. This bar reduces the settling time, thereby reducing the positioning time. A long steel bar is connected via spring members to the front of the frame allowing the bar to move relative to the frame. Pads of energy-absorbing material are placed between the bar and the frame to impede the relative motion between the bar and the frame. Robotic manipulators require the ability to move into position quickly. However, the positioning time is often increased because of free vibration by the manipulator support frame structure. Like most structures this vibration is aggravated by the absence of damping. A lightly damped structure tends to vibrate for a long time after the excitation has stopped.