Implementation of a controllable damper for suppressing vibration in the technological process

Abstract

The paper deals with the problem of suppressing vibration of the arm of Motoman SSF200 robot within the frame of the technological process. Based on an overview of literature, a semi-active vibration control system was selected and a double ended magnetorheological damper (MR) was designed. After testing the acceleration of the robot arm in milling operation without the MR damper, the device was employed and the acceleration of the robot arm in four operation modes was experimentally tested.The conducted research has proved that the double ended MR damper can be practically applied for suppressing the vibration of the robot arm. The higher power to the electromagnet of the MR damper is exposed, the better vibration suppression is. This means that by changing the strength of current, the technological process of the robot arm is under control. Thus, control over the technological process is simplified when the physical characteristics of the milled material, milled tool or operation vary.