抑制牙叉式機械臂移載時產生振幅之設計

Reduce the forks robot movement for vibration amplitude design

莊進傑(Chin-Chieh Chuang)

指導教授 ： 董必正

國立中央大學/工學院/機械工程研究所碩士在職專班/碩士(2012年)

摘要

本研究探討被動式吸振器在工程上的應用，首先回顧兩種傳統吸 振器，透過運動方程式的推導，得到影響牙叉式機械臂振幅之參數， 分別為自然頻率以及彈簧係數，經由改變參數，得知主系統響應的變 化趨勢。將系統簡化後針對其振動特性以Simulink 軟體模擬，並在 模擬過程中尋求最佳抑制振動的參數，期望能快速降低生產線中機械 臂因高速振動時所產生之振幅，以提升產品精度及縮短製程中的等待 時間。最後分別就模擬與實驗之結果討論其中之差異。

關鍵字

振動控制 ； 牙叉式機械臂 ； 被動式吸振器

並列摘要

The purpose of this thesis is to explore the application of passive vibration absorber for engineering. First, the two conventional dynamic vibration absorbers are reviewed. By deriving the equation of motion, the amplitude parameters of the forks robot were obtained, and they are natural frequency and spring constant. And by changing the parameters, the changing tendency of the main system response were then gained.
System and then do simplify the Simulink software to simulate the vibration characteristics do, and seek to suppress vibration parameters during the simulation, expectations can quickly reduce the production line in the robot arm due to the high-speed vibration amplitude to improve the accuracy of product and shorten the waiting time in the process.
Both results will then be studied and the differences between the results obtained will be further investigated.

並列關鍵字

Vibration control ； Forks robot ； Passive absorber

參考文獻

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[5] J.P Den Hartog, Mechanical Vibrations, New York(1985) .