# Research on Forced Vibration Model of End Effector Under Low-Frequency Excitation and Vibration-Suppression Technology

## TL;DR

This paper studies how to improve the accuracy of robot end effectors by modeling their vibrations and developing a method to suppress them.

## Contribution

A new multi-stepwise beam model and a direct inverse controller for vibration suppression in end effectors are proposed.

## Key findings

- The multi-stepwise beam model accurately captures the vibration characteristics of the end effector.
- The direct inverse controller achieves a 50% amplitude suppression rate in experiments.
- Numerical solutions reveal precise relationships between beam response and excitation.

## Abstract

The positioning accuracy of the end effector is the core index that affects the robot’s performance. However, to achieve lightweight and functional requirements, the construction of end effectors is becoming more complex. Lightweight design through slotting is becoming more common. This leads to the fact that the traditional mathematical model cannot accurately characterize the vibration of the end effector. This study proposed the multi-stepwise beam model. It employed the separation of variables and element transmitting method to obtain the mathematical model of the modal shape functions and the natural frequencies. Meanwhile, the vibration response of the end effector under fixed-end excitation was analyzed, and the conclusions were made through experimental research. The direct inverse controller was presented to achieve vibration suppression. The experimental results indicate that the amplitude suppression rate reaches 50%. The system’s equations of motion were solved numerically to analyze the exact relationships for the response and excitation of the beam considered.