| In this study, we show the preliminary stages of design of a system of damping of the vibrations of a flexible robot, excited by repetitive impacts.; The first stage consists in taking vibratory measurements on the arm of ScompiRTM in order to find the parameters modal. In parallel, to validate these measurements, one carries out a digital model by finite elements by using software ANSYSRTM.; At the time of the second part we measure the vibrations of the arm in hammering and we compare this result with simulation by finite elements. We proposed two concepts: a passive support deadened for the two tools and a dynamic absorber. They can be associated and used simultaneously.; While basing oneself on these results, one passed to the design of the deadened support. Theoretical calculations as of simulations made it possible to define the geometry and the parameters of the shock absorber. After a study of the various shock absorbers offered on the market, our choice was made on a standardized model built with an elastomer containing natural rubber. This support was machined and tested to determine its effectiveness. (Abstract shortened by UMI.)... |
