Industrial Technology Research Institute

Hung-I Lu

Jen-Ji Wang

Chien-Chih Liao

Yun-Chiao Chen

A method for reducing vibration of a robot arm includes: a step of mounting at least one inertia actuator and at least one vibration signal capturing unit to a processing end of a robot arm; a step of applying the at least one vibration signal capturing unit to detect a vibration generated at the processing end of the robot arm so as to generate a vibration signal; a step of applying a central processing unit to evaluate the vibration signal and coordinates of the processing end of the robot arm so as to capture at least one set of corresponding control parameters for calculating at least one output force; and, a step of having the inertia actuator to apply the output force to the processing end of the robot arm for counteracting the vibration at the processing end of the robot arm.

Method for reducing vibration of robot arm

An adjustable damper includes a base, a first and second slidable members, a movable seat, a mass unit, and a first and second cantilevers. The first slidable member is slidably disposed on the base in a first direction. The movable seat is slidably disposed on the base in a second direction orthogonal to the first direction. The second slidable member is slidably disposed on the movable seat in the second direction. The mass unit is slidably disposed on the movable seat in the first direction. The first cantilever is fixed to a first connecting member. The first connecting member is connected to the movable seat. The first slidable member movably is disposed on the first cantilever. The second cantilever is fixed to a second connecting member. The second connecting member is connected to the mass unit. The second slidable member is movably disposed on the second cantilever.

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Hung-I Lu