Dynamic model and vibration control of a robot arm with flexible timing belts

The robot arm used in these studies is shown. A DC motor is connected to a joint through a harmonic drive gear as a prime mover actuator. The timing belts are provided between the joints to drive a link along the X axis. In this mechanical system the flexibility of the timing belts produces vibrations. The robot arm with timing belts is modeled with consideration given to this flexibility. The appropriateness of the proposed mechanical model is examined based on computer simulations and experimental results. The model of the robot is derived from the Lagrangian equations and the flexible transmission is approximated as a torsional spring. A positioning servosystem with suppression of vibrations based on this mechanical model is presented. The performance of the proposed control system and the effect of the suppression of vibrations are examined based on the computer simulations and experimental results