Abstract:In order to suppress the residual vibration of forging robot caused by forging press and other equipment in forging workshop,the design on metal rubber damping of robot joints and the performance analysis of vibration suppression were carried out.The half sine impulse response of the forging press in the forging environments was obtained based on the shock response theory;then according to the linear spring hypothesis of SPONE and the rigid flexible coupling characteristics of the joint,the geometric model of 6-DOF forging robot was established on the COMSOL platform;the vibration damping characteristics of the metal rubber damping material in the forging robot joints were analyzed;finally,some vibration response tests of a forging robot under seven states were carried out based on COMSOL platform,and four metal rubber joint dampers with wire diameters of 0.10,0.20,0.25 and 0.30 mm were tested for residual vibration suppression.The test results show that when the angles of joint 4- joint 6 are all 0°,the maximum end displacement of the undamped robot in limit state 4 is 0.19 mm.However,the four kinds of metal rubber joint damping have reduced the end displacement of the robot by 85.8%,99.5%,100% and 100%,and the vibration suppression effect is the best when the wire diameter is 0.25 mm,which verifies the effectiveness of adding metal rubber joint damping in forging robots to suppress residual vibration.
