Modelling of a glass gatherer robot arm with a frictional damper

A numerical model of a friction damper used for damping vibration in glass gatherer robots was described. The damper with a lance was modelled using finite elements. Primary natural frequency of the system was determined. Numerical calculations were performed to determine the best operating parameters of the damper for excitations using a impulse of a force. Results of the damping decrement calculations for the friction damper model with a constant coefficient of friction and for the model, in which the coefficient of friction varied depending on the sliding velocity and the normal pressure occurring at the contact surfaces of the damper’s friction rings, were presented. Based on numerical simulations, the values of relative displacements between the damper’s friction rings were also determined.