Finite Element Modeling of Dynamic Properties of the Delta Robot with Base Frame
The paper presents the finite element modeling of the dynamic properties of a delta robot attached to a steel frame. A distinguishing feature of the proposed modeling method is the application of the Guyan reduction method in modeling of frame foundations. The frame in question was analyzed in two v...
Gespeichert in:
| Veröffentlicht in: | Materials 2022-09, Vol.15 (19), p.6797 |
|---|---|
| Hauptverfasser: | , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | |
|---|---|
| container_issue | 19 |
| container_start_page | 6797 |
| container_title | Materials |
| container_volume | 15 |
| creator | Grabiec, Jakub Pajor, Mirosław Dunaj, Paweł |
| description | The paper presents the finite element modeling of the dynamic properties of a delta robot attached to a steel frame. A distinguishing feature of the proposed modeling method is the application of the Guyan reduction method in modeling of frame foundations. The frame in question was analyzed in two variants: (i) without attached robot and (ii) with attached robot. Based on the established model, the dynamic properties (i.e., natural frequencies, mode shapes, and frequency response functions) of the frame in the two variants were analyzed. The obtained results were then experimentally verified and validated. It was found that the developed model showed an average relative error for natural frequencies of 4.3% in the case of the frame and 5.6% in the case of the frame with the robot. The paper demonstrated the validity of the proposed model, allowing accurate and fast determination of robotic system dynamic properties. |
| doi_str_mv | 10.3390/ma15196797 |
| format | Article |
| fullrecord | <record><control><sourceid>gale_pubme</sourceid><recordid>TN_cdi_pubmedcentral_primary_oai_pubmedcentral_nih_gov_9571944</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><galeid>A745740106</galeid><sourcerecordid>A745740106</sourcerecordid><originalsourceid>FETCH-LOGICAL-c352t-4d5a72da57df19deb36bf5cd7a715f8ec315d580db7811046c7da94b331854f43</originalsourceid><addsrcrecordid>eNpdkVFPHCEQx0ljU431pZ-ApC-NyemywLK8mFj11MSmpmmfCQvDHWYXrsDZ-O3L5kytwgNk-M2fmf8g9Ik0J5TK5nTShBPZCSneoQMiZbcgkrG9_-776Cjnh6YuSknfyg9on3YtZYSyA3S_9MEXwFcjTBAK_hYtjD6scHT48inoyRt8n-IGUvGQ52hZA76EsWj8Iw6x4D--rPFXnQEvk57gI3rv9Jjh6Pk8RL-WVz8vbhZ3369vL87vFobytiyY5Vq0VnNhHZEWBtoNjhsrtCDc9WAo4Zb3jR1ET0jDOiOslmyYW-DMMXqIzna6m-0wgTW1-KRHtUl-0ulJRe3V65fg12oVH5XkYnalCnx5Fkjx9xZyUZPPBsZRB4jbrFrRVmNZT2b08xv0IW5TqO3NFGtFRzpRqZMdtdIjKB9crP-aui1UF2MA52v8XDAuWEOariYc7xJMijkncP-qJ42ah6tehkv_AhIflBM</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2724276167</pqid></control><display><type>article</type><title>Finite Element Modeling of Dynamic Properties of the Delta Robot with Base Frame</title><source>PubMed Central Open Access</source><source>MDPI - Multidisciplinary Digital Publishing Institute</source><source>EZB-FREE-00999 freely available EZB journals</source><source>PubMed Central</source><source>Free Full-Text Journals in Chemistry</source><creator>Grabiec, Jakub ; Pajor, Mirosław ; Dunaj, Paweł</creator><creatorcontrib>Grabiec, Jakub ; Pajor, Mirosław ; Dunaj, Paweł</creatorcontrib><description>The paper presents the finite element modeling of the dynamic properties of a delta robot attached to a steel frame. A distinguishing feature of the proposed modeling method is the application of the Guyan reduction method in modeling of frame foundations. The frame in question was analyzed in two variants: (i) without attached robot and (ii) with attached robot. Based on the established model, the dynamic properties (i.e., natural frequencies, mode shapes, and frequency response functions) of the frame in the two variants were analyzed. The obtained results were then experimentally verified and validated. It was found that the developed model showed an average relative error for natural frequencies of 4.3% in the case of the frame and 5.6% in the case of the frame with the robot. The paper demonstrated the validity of the proposed model, allowing accurate and fast determination of robotic system dynamic properties.</description><identifier>ISSN: 1996-1944</identifier><identifier>EISSN: 1996-1944</identifier><identifier>DOI: 10.3390/ma15196797</identifier><identifier>PMID: 36234134</identifier><language>eng</language><publisher>Basel: MDPI AG</publisher><subject>Design ; Finite element analysis ; Finite element method ; Frequency response functions ; Kinematics ; Mathematical models ; Methods ; Modelling ; Resonant frequencies ; Robots ; Steel frames ; Vibration</subject><ispartof>Materials, 2022-09, Vol.15 (19), p.6797</ispartof><rights>COPYRIGHT 2022 MDPI AG</rights><rights>2022 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.</rights><rights>2022 by the authors. 2022</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c352t-4d5a72da57df19deb36bf5cd7a715f8ec315d580db7811046c7da94b331854f43</citedby><cites>FETCH-LOGICAL-c352t-4d5a72da57df19deb36bf5cd7a715f8ec315d580db7811046c7da94b331854f43</cites><orcidid>0000-0001-6866-2586 ; 0000-0001-7050-2100 ; 0000-0002-7701-385X</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://www.ncbi.nlm.nih.gov/pmc/articles/PMC9571944/pdf/$$EPDF$$P50$$Gpubmedcentral$$Hfree_for_read</linktopdf><linktohtml>$$Uhttps://www.ncbi.nlm.nih.gov/pmc/articles/PMC9571944/$$EHTML$$P50$$Gpubmedcentral$$Hfree_for_read</linktohtml><link.rule.ids>230,315,728,781,785,886,27929,27930,53796,53798</link.rule.ids></links><search><creatorcontrib>Grabiec, Jakub</creatorcontrib><creatorcontrib>Pajor, Mirosław</creatorcontrib><creatorcontrib>Dunaj, Paweł</creatorcontrib><title>Finite Element Modeling of Dynamic Properties of the Delta Robot with Base Frame</title><title>Materials</title><description>The paper presents the finite element modeling of the dynamic properties of a delta robot attached to a steel frame. A distinguishing feature of the proposed modeling method is the application of the Guyan reduction method in modeling of frame foundations. The frame in question was analyzed in two variants: (i) without attached robot and (ii) with attached robot. Based on the established model, the dynamic properties (i.e., natural frequencies, mode shapes, and frequency response functions) of the frame in the two variants were analyzed. The obtained results were then experimentally verified and validated. It was found that the developed model showed an average relative error for natural frequencies of 4.3% in the case of the frame and 5.6% in the case of the frame with the robot. The paper demonstrated the validity of the proposed model, allowing accurate and fast determination of robotic system dynamic properties.</description><subject>Design</subject><subject>Finite element analysis</subject><subject>Finite element method</subject><subject>Frequency response functions</subject><subject>Kinematics</subject><subject>Mathematical models</subject><subject>Methods</subject><subject>Modelling</subject><subject>Resonant frequencies</subject><subject>Robots</subject><subject>Steel frames</subject><subject>Vibration</subject><issn>1996-1944</issn><issn>1996-1944</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>ABUWG</sourceid><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><recordid>eNpdkVFPHCEQx0ljU431pZ-ApC-NyemywLK8mFj11MSmpmmfCQvDHWYXrsDZ-O3L5kytwgNk-M2fmf8g9Ik0J5TK5nTShBPZCSneoQMiZbcgkrG9_-776Cjnh6YuSknfyg9on3YtZYSyA3S_9MEXwFcjTBAK_hYtjD6scHT48inoyRt8n-IGUvGQ52hZA76EsWj8Iw6x4D--rPFXnQEvk57gI3rv9Jjh6Pk8RL-WVz8vbhZ3369vL87vFobytiyY5Vq0VnNhHZEWBtoNjhsrtCDc9WAo4Zb3jR1ET0jDOiOslmyYW-DMMXqIzna6m-0wgTW1-KRHtUl-0ulJRe3V65fg12oVH5XkYnalCnx5Fkjx9xZyUZPPBsZRB4jbrFrRVmNZT2b08xv0IW5TqO3NFGtFRzpRqZMdtdIjKB9crP-aui1UF2MA52v8XDAuWEOariYc7xJMijkncP-qJ42ah6tehkv_AhIflBM</recordid><startdate>20220930</startdate><enddate>20220930</enddate><creator>Grabiec, Jakub</creator><creator>Pajor, Mirosław</creator><creator>Dunaj, Paweł</creator><general>MDPI AG</general><general>MDPI</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SR</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>D1I</scope><scope>DWQXO</scope><scope>HCIFZ</scope><scope>JG9</scope><scope>KB.</scope><scope>PDBOC</scope><scope>PIMPY</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>7X8</scope><scope>5PM</scope><orcidid>https://orcid.org/0000-0001-6866-2586</orcidid><orcidid>https://orcid.org/0000-0001-7050-2100</orcidid><orcidid>https://orcid.org/0000-0002-7701-385X</orcidid></search><sort><creationdate>20220930</creationdate><title>Finite Element Modeling of Dynamic Properties of the Delta Robot with Base Frame</title><author>Grabiec, Jakub ; Pajor, Mirosław ; Dunaj, Paweł</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c352t-4d5a72da57df19deb36bf5cd7a715f8ec315d580db7811046c7da94b331854f43</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>Design</topic><topic>Finite element analysis</topic><topic>Finite element method</topic><topic>Frequency response functions</topic><topic>Kinematics</topic><topic>Mathematical models</topic><topic>Methods</topic><topic>Modelling</topic><topic>Resonant frequencies</topic><topic>Robots</topic><topic>Steel frames</topic><topic>Vibration</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Grabiec, Jakub</creatorcontrib><creatorcontrib>Pajor, Mirosław</creatorcontrib><creatorcontrib>Dunaj, Paweł</creatorcontrib><collection>CrossRef</collection><collection>Engineered Materials Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science & Engineering Collection</collection><collection>ProQuest Central (Alumni Edition)</collection><collection>ProQuest Central UK/Ireland</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Materials Science Collection</collection><collection>ProQuest Central Korea</collection><collection>SciTech Premium Collection</collection><collection>Materials Research Database</collection><collection>Materials Science Database</collection><collection>Materials Science Collection</collection><collection>Access via ProQuest (Open Access)</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>MEDLINE - Academic</collection><collection>PubMed Central (Full Participant titles)</collection><jtitle>Materials</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Grabiec, Jakub</au><au>Pajor, Mirosław</au><au>Dunaj, Paweł</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Finite Element Modeling of Dynamic Properties of the Delta Robot with Base Frame</atitle><jtitle>Materials</jtitle><date>2022-09-30</date><risdate>2022</risdate><volume>15</volume><issue>19</issue><spage>6797</spage><pages>6797-</pages><issn>1996-1944</issn><eissn>1996-1944</eissn><abstract>The paper presents the finite element modeling of the dynamic properties of a delta robot attached to a steel frame. A distinguishing feature of the proposed modeling method is the application of the Guyan reduction method in modeling of frame foundations. The frame in question was analyzed in two variants: (i) without attached robot and (ii) with attached robot. Based on the established model, the dynamic properties (i.e., natural frequencies, mode shapes, and frequency response functions) of the frame in the two variants were analyzed. The obtained results were then experimentally verified and validated. It was found that the developed model showed an average relative error for natural frequencies of 4.3% in the case of the frame and 5.6% in the case of the frame with the robot. The paper demonstrated the validity of the proposed model, allowing accurate and fast determination of robotic system dynamic properties.</abstract><cop>Basel</cop><pub>MDPI AG</pub><pmid>36234134</pmid><doi>10.3390/ma15196797</doi><orcidid>https://orcid.org/0000-0001-6866-2586</orcidid><orcidid>https://orcid.org/0000-0001-7050-2100</orcidid><orcidid>https://orcid.org/0000-0002-7701-385X</orcidid><oa>free_for_read</oa></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 1996-1944 |
| ispartof | Materials, 2022-09, Vol.15 (19), p.6797 |
| issn | 1996-1944 1996-1944 |
| language | eng |
| recordid | cdi_pubmedcentral_primary_oai_pubmedcentral_nih_gov_9571944 |
| source | PubMed Central Open Access; MDPI - Multidisciplinary Digital Publishing Institute; EZB-FREE-00999 freely available EZB journals; PubMed Central; Free Full-Text Journals in Chemistry |
| subjects | Design Finite element analysis Finite element method Frequency response functions Kinematics Mathematical models Methods Modelling Resonant frequencies Robots Steel frames Vibration |
| title | Finite Element Modeling of Dynamic Properties of the Delta Robot with Base Frame |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-14T17%3A59%3A03IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-gale_pubme&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Finite%20Element%20Modeling%20of%20Dynamic%20Properties%20of%20the%20Delta%20Robot%20with%20Base%20Frame&rft.jtitle=Materials&rft.au=Grabiec,%20Jakub&rft.date=2022-09-30&rft.volume=15&rft.issue=19&rft.spage=6797&rft.pages=6797-&rft.issn=1996-1944&rft.eissn=1996-1944&rft_id=info:doi/10.3390/ma15196797&rft_dat=%3Cgale_pubme%3EA745740106%3C/gale_pubme%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2724276167&rft_id=info:pmid/36234134&rft_galeid=A745740106&rfr_iscdi=true |