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Vibration Measurements on a Six-Axis Collaborative Robotic Arm - Part I


[ 1 ] Instytut Technologii Mechanicznej, Wydział Inżynierii Mechanicznej, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.9] Mechanical engineering

Year of publication


Published in


Journal year: 2023 | Journal volume: vol. 23 | Journal number: iss. 3

Article type

scientific article

Publication language


  • six-axis robotic arm
  • vibration and noise
  • dominant frequency

EN This article deals with the design of a methodology for vibration and noise measurement on a six-axis collaborative robotic arm. A vibration and noise measurement methodology is proposed for six robot positions. In each position, measurements were performed under defined equal boundary conditions. The boundary conditions were related to the velocities of the joints and the load on the robotic arm. The second part of the article is an evaluation of the initial experimental results. So far, only the acceleration of the sixth joint of the robotic arm - Wrist 3 - has been measured. The aim of the measurements was to verify if the methodology presented can be used for vibration measurements. From the evaluation of the experimental measurements, it was determined that the given methodology can be used for vibration measurements. It was also found that the acceleration is transmitted in the axes other than the axis of motion of the robotic arm. In future experiments, the vibration at the other joints of the robotic arm will be measured and the noise of the robotic arm will be measured to confirm whether the proposed methodology is indeed functional.

Date of online publication


Pages (from - to)

1629-1 - 1629-18





Article Number: 1629

License type

CC BY (attribution alone)

Open Access Mode

open journal

Open Access Text Version

final published version

Date of Open Access to the publication

at the time of publication

Ministry points / journal


Impact Factor

3,9 [List 2022]

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