The vibration character and reducing vibration analysis about series manipulator'base

During the running of serial manipulator, unbalanced force produced by base with respect to the floor has a great effect on the accuracy of manipulator's end. Aiming at the above problem, we take the three-degree-of-freedom serial manipulator as an example to analysis. First, taking advantage of the methodology of Newton-Euler dynamics to derive the relative force between two joint rods and base with respect to the floor while the manipulator is at the period of working. Then, building the spring-damp vibration model to calculate the parameter formula of the base with relative to the ground. Finally, analysing the characteristics of vibration and giving measures of reducing vibration, simulating to prove the effectivity using MATLAB. The simulation results show that when choosing other values of ω_n and ξ, vibration amplitude has significant decrease compared with the conditions of ω_n = ω_i or ξ =0.414 when other parameters unchanged, which provides a certain reference for further research on vibration reduction of series manipulator.