LAUSR

The motors and reducers of traditional industrial robots are installed at the joints, which leads to large moment of inertia and difficult to effectively improve the dynamic performance of the robots. In particular, the residual vibration at the end of the robots will significantly reduce its working efficiency and fatigue life. Therefore, this paper proposes a new method to reinstall the motor and reducer near the frame, which can effectively suppress the residual vibration of the robots and simultaneously reduce the moment of inertia. Taking the series industrial robot as the research object, four types of CM robots are designed based on the theory of a multi-DOF controllable mechanism (CM). The motor and reducer of the robot are reinstalled near the frame through different branch chains, and their moments of inertia are calculated and compared. The dynamic equations of residual vibration of the four CM robots considering concentrated mass are established based on the finite element method (FEM) and Timoshenko space beam element (SBE) model, and the correctness of the equations are verified by experiments. The results show that the installation position of motor and reducer has a significant influence on the value of moment of inertia of the robot. The motor and reducer of configuration D are reinstalled near the frame by three branches, which can effectively reduce the attenuation time and amplitude of residual vibration at the end of the robot. The research provides a new idea for improving the dynamic performance of industrial robots.