Active dynamic balancing - University of Twente

A dynamically balanced robot does not exert dynamic reaction forces and moments to its base for any motion of the robot. Therefore it does not induce vibrations in the base. This experimental setup shows the difference between an unbalanced and a balanced robot. An unbalanced xy-robot is vertically supported by cables such that reaction forces and moments make the robot base unsteady. When the active* dynamic balancing unit is on, the combined system is dynamically balanced and remains steady. Here the control of the balancing unit is just feedforward, based on an unidentified dynamic model. Current work includes accurate (feedforward/feedback) control with which also the pick&place of payload is balanced.

Volkert van der Wijk & Just L. Herder

(* Active balancing refers to the control of balancing elements (masses, inertias) with separate actuators, as opposite to passive balancing with which the balancing elements are mounted on existing machine parts)

Category:

Education

Tags:

• Dynamic
• balancing;
• Vibration
• reduction;
• Robotics;
• Control;
• shaking
• force;
• moment