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You searched for id:"oai:tudelft.nl:uuid:5cadc48b-098a-4a82-adfa-c68500d8764f". One record found.

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Delft University of Technology

1. Zomerdijk, Matthijs (author). Reducing settling time in high acceleration applications of macro scale robotic manipulators with dynamic balancing.

Degree: 2020, Delft University of Technology

High accelerations in unbalanced robotic manipulators can induce significant base vibrations, which reduces precision and increases settling time. These vibrations are caused by fluctuating reaction forces and reaction moments exerted on the base by the manipulator. Dynamic balancing eliminates these fluctuations and therefore improves performance. However, dynamic balancing, in general, comes at the cost of additional moving mass in the manipulator, which reduces controllability. Combining balancing with optimal controllability therefore requires an integral design approach. In this thesis, the controllability of multiple balancing principles are compared. Based on these findings a design for a balanced rotatable link will be presented, which aims to combine dynamic balancing with optimal controllability. Experimental verification of the balanced design showed a reduction of 99.3% in reaction forces and 97.8% in reaction moments compared to the unbalanced mechanism. Transverse tip accelerations up to 21 G are achieved in experiments, showing the potential for high acceleration applications.

Mechatronic System Design

Advisors/Committee Members: van der Wijk, V. (mentor), Herder, J.L. (graduation committee), Kober, J. (graduation committee), Caneva, S. (graduation committee), Delft University of Technology (degree granting institution).

Subjects/Keywords: Dynamic balancing; Controllability; Natural Frequency; Shaking force balancing; Shaking moment balancing

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Zomerdijk, M. (. (2020). Reducing settling time in high acceleration applications of macro scale robotic manipulators with dynamic balancing. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:5cadc48b-098a-4a82-adfa-c68500d8764f

Chicago Manual of Style (16th Edition):

Zomerdijk, Matthijs (author). “Reducing settling time in high acceleration applications of macro scale robotic manipulators with dynamic balancing.” 2020. Masters Thesis, Delft University of Technology. Accessed January 16, 2021. http://resolver.tudelft.nl/uuid:5cadc48b-098a-4a82-adfa-c68500d8764f.

MLA Handbook (7th Edition):

Zomerdijk, Matthijs (author). “Reducing settling time in high acceleration applications of macro scale robotic manipulators with dynamic balancing.” 2020. Web. 16 Jan 2021.

Vancouver:

Zomerdijk M(. Reducing settling time in high acceleration applications of macro scale robotic manipulators with dynamic balancing. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Jan 16]. Available from: http://resolver.tudelft.nl/uuid:5cadc48b-098a-4a82-adfa-c68500d8764f.

Council of Science Editors:

Zomerdijk M(. Reducing settling time in high acceleration applications of macro scale robotic manipulators with dynamic balancing. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:5cadc48b-098a-4a82-adfa-c68500d8764f

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