A New Robot Design to Passively Damp Flexible Robotic Arms
This paper presents a hardware configuration for a long reach robotic arm in which passive dampers eliminate unwanted oscillation. This paper derives and reduces the equations of motion for the proposed configuration; then develops a "realistic" design. Using a single degree of freedom approximation, the paper presents and experimentally verifies equations for the dominant natural frequency and damping ratio. The paper demonstrates that the equations are good predictors of dynamic response for a large set of robots. The design is verified via experiment.