Dynamic Model and Vibration Characteristic of the Cartesian Robotic Arm with Deploying Motion

This paper investigates the dynamic and vibration characteristic of the Cartesian robotic arm with deploying motion (CRMdm), which is a common application scenario in engineering. During the investigations, the dynamic model and vibration equation of the CRMdm are derived based on Hamilton variational principle. According to the established dynamic equation, the transverse vibration response of the manipulator during the operation motion were studied. The results show that the vibration responses of the CRMdm gradually enhance, with the increase of motion velocity, the trend becomes more obvious while the vibration response frequency decreases, which are different from the conventional dynamic characteristics of manipulator. To further investigate the vibrations characteristic of the CRMdm, the first three mode shapes of the CRMdm are investigated.