{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T02:15:18Z","timestamp":1767665718595,"version":"build-2065373602"},"reference-count":38,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2022,9,21]],"date-time":"2022-09-21T00:00:00Z","timestamp":1663718400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"EFORT-EUROPE s.r.l."}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>In metal sheet processing for automotive application, it is crucial to guarantee high robot dynamics for reduced cycle times and adequate components accuracy to be competitive in the market. Since the two aspects are closely and inversely related, the problem becomes challenging. After the first cutting tests, the Cartesian Robot prototype displayed insufficient dimensional accuracy when undergoing high accelerations. The solution hereby proposed is the design of a Tuned Mass Damper (TMD), working in shear mode, to reduce the robot vibration amplitude. To this end, an initial assessment of the robot frequency response and natural frequencies was performed both by using a Finite Element (FE) model of the machine and experimentally. Further, frequency response analyses were carried out to evaluate the TMD effectiveness and to highlight possible criticalities from the manufacturing point of view. On a numerical level, the proposed design can damp the machine resonant frequencies, also showing a certain grade of tunability before operation and in-plane orientation insensitiveness thanks to the use of cylindrically shaped springs.<\/jats:p>","DOI":"10.3390\/robotics11050103","type":"journal-article","created":{"date-parts":[[2022,9,22]],"date-time":"2022-09-22T23:07:55Z","timestamp":1663888075000},"page":"103","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Tunable Vibration Absorber Design for a High-Precision Cartesian Robot"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4804-3416","authenticated-orcid":false,"given":"Simone","family":"D\u2019Imperio","sequence":"first","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca Degli Abruzzi 24, 10129 Torino, Italy"}]},{"given":"Teresa Maria","family":"Berruti","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca Degli Abruzzi 24, 10129 Torino, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6863-6724","authenticated-orcid":false,"given":"Chiara","family":"Gastaldi","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca Degli Abruzzi 24, 10129 Torino, Italy"}]},{"given":"Pietro","family":"Soccio","sequence":"additional","affiliation":[{"name":"Efort Europe S.r.l., Corso Duca Degli Abruzzi 2, 10128 Torino, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2022,9,21]]},"reference":[{"key":"ref_1","unstructured":"Fahy, F., and Walker, J. (2004). Vibration control. Advanced Applications in Acoustics, Noise and Vibration, Spoon Press. [1st ed.]."},{"key":"ref_2","first-page":"203","article-title":"Structural dynamic modification of vibrating systems","volume":"1","author":"Nad","year":"2007","journal-title":"J. Appl. Comput. Mech."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Neubauer, M., Schwaericke, F., Radmann, V., Sarradj, E., Modler, N., and Dannemann, M. (2022). Material Selection Process for Acoustic and Vibration Applications Using the Example of a Plate Resonator. Materials, 15.","DOI":"10.3390\/ma15082935"},{"key":"ref_4","unstructured":"Karnopp, D. (1996, January 2\u20134). Active and semi-active vibration isolation. Proceedings of the Sixth Cairo University International MDP Conference, Cairo, Egypt."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Baz, A.M. (2019). Active and Passive Vibration Damping, John Wiley & Sons Inc. [1st ed.].","DOI":"10.1002\/9781118537619"},{"key":"ref_6","first-page":"203","article-title":"Calibration of engine parameters and fuel blend for vibration and noise characteristics in CRDI engine fuelled with low viscous biofuel","volume":"288","author":"Ashock","year":"2021","journal-title":"Fuel"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"103541","DOI":"10.1016\/j.ijmachtools.2020.103541","article-title":"Active vibration suppression in robotic milling using optimal control","volume":"152","author":"Nguyen","year":"2020","journal-title":"Int. J. Mach. Tools Manuf."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"941","DOI":"10.1016\/j.conengprac.2004.09.011","article-title":"Input shaping reference commands for trajectory following Cartesian machines","volume":"13","author":"Pelaez","year":"2005","journal-title":"J. Control. Eng. Pract."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Kasprowiak, M., Parus, A., and Hoffmann, M. (2022). Vibration Suppression with Use of Input Shaping Control in Machining. Sensors, 22.","DOI":"10.3390\/s22062186"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Siciliano, B., and Khatib, O. (2016). Robots with Flexible Elements. Springer Handbook of Robotics, Springer Nature. [1st ed.].","DOI":"10.1007\/978-3-319-32552-1"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"1235","DOI":"10.1016\/S0890-6955(00)00009-2","article-title":"Error compensation in machine tools\u2014A review. Part I: Geometric, cutting-force induced and fixture-dependent errors","volume":"40","author":"Ramesh","year":"2000","journal-title":"J. Mach. Tools Manuf."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"2764","DOI":"10.1177\/0954406217726565","article-title":"Structural bionic design for a machine tool column based on leaf veins","volume":"232","author":"Gao","year":"2017","journal-title":"J. Mech. Eng. Sci."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1007\/s00170-015-7155-6","article-title":"Bionic design and verification of high-precision machine tool structures","volume":"81","author":"Yan","year":"2015","journal-title":"J. Adv. Manuf. Technol."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1016\/j.ijmachtools.2014.03.005","article-title":"Stiffness design of machine tool structures by a biologically inspired topology optimization method","volume":"84","author":"Li","year":"2014","journal-title":"J. Mach. Tools Manuf."},{"key":"ref_15","first-page":"406","article-title":"On the Use of Tuned Mass Dampers for Reducing the Nonlinear Vibrations of Planar Parallel Cable Robots","volume":"8","year":"2019","journal-title":"Int. J. Mech. Eng. Robot. Res."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"60","DOI":"10.21595\/vp.2019.20807","article-title":"Mechanics of robot inspector on electrical transmission lines conductors: Performance analysis of dynamic vibration absorber","volume":"25","author":"Bahrami","year":"2019","journal-title":"J. Vibroeng."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"62","DOI":"10.1299\/jsmec.42.62","article-title":"Vibration Control of Mobile Robot Vehicle by Dynamic Vibration Absorber","volume":"42","author":"Mrad","year":"1999","journal-title":"JSME Int. J."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"9723538","DOI":"10.1155\/2018\/9723538","article-title":"Vibration Reduction for a Flexible Arm Using Magnetorehological Elastomer Vibration Absorber","volume":"2018","author":"Bian","year":"2018","journal-title":"J. Shock. Vib."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"748","DOI":"10.1016\/j.cja.2018.12.002","article-title":"Design of tunable mass damper for mitigating vibrations in milling of cylindrical parts","volume":"32","author":"Yuan","year":"2019","journal-title":"Chin. J. Aeronaut."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"78","DOI":"10.1016\/j.jsv.2014.09.032","article-title":"Design and implementation of two-degree-of-freedom tuned mass damper in milling vibration mitigation","volume":"335","author":"Yang","year":"2015","journal-title":"J. Sound Vib."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Ma, W., Yu, J., Yang, Y., and Wang, Y. (2020). Optimization and Tuning of Passive Tuned Mass Damper Embedded in Milling Tool for Chatter Mitigation. J. Manuf. Mater. Prop., 5.","DOI":"10.3390\/jmmp5010002"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"021009","DOI":"10.1115\/1.4045628","article-title":"Optimal Design of Multiple Tuned Mass Dampers to Reduce Vibrations of a Ram-Type Structure with Varying Dynamics via a Control Theoretic Framework","volume":"142","author":"Lee","year":"2020","journal-title":"J. Manuf. Sci. Eng."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Genta, G. (2009). Vibration Dynamics and Control, Springer Nature. [1st ed.].","DOI":"10.1007\/978-0-387-79580-5"},{"key":"ref_24","unstructured":"Frahm, H. (1911). Device for Damping Vibrations of Bodies. (No: 989,958), US Patent."},{"key":"ref_25","unstructured":"Den Hartog, J.P. (1956). Mechanical Vibrations, McGraw-Hill. [1st ed.]."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1016\/S0141-0296(97)00078-3","article-title":"Parametric study and simplified design of tuned mass dampers","volume":"20","author":"Rana","year":"1997","journal-title":"J. Eng. Struct."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1002\/eqe.4290100304","article-title":"Optimum abrosber parameters for various combinations of response and excitation parameters","volume":"10","author":"Warburton","year":"1982","journal-title":"J. Earthq. Eng. Struct. Dyn."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"4880","DOI":"10.1016\/j.jsv.2010.05.015","article-title":"A comparison between different optimization criteria for tuned mass dampers design","volume":"329","author":"Marano","year":"2010","journal-title":"J. Sound Vib."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"715","DOI":"10.1016\/j.engstruct.2008.11.017","article-title":"Particle swarm optimization of tuned mass dampers","volume":"31","author":"Leung","year":"2009","journal-title":"J. Eng. Struct."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"273","DOI":"10.1061\/(ASCE)ST.1943-541X.0000458","article-title":"Cost Optimum Design of Posttensioned I-Girder Bridge Using Global Optimization Algorithm","volume":"138","author":"Ahsan","year":"2012","journal-title":"J. Struct. Eng."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"106463","DOI":"10.1016\/j.soildyn.2020.106463","article-title":"Design and performance evaluation of inerter-based tuned mass dampers for a ground acceleration excited structure","volume":"140","author":"Javidialesaadi","year":"2021","journal-title":"Soil Dyn. Earthq. Eng."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"897","DOI":"10.1002\/stc.64","article-title":"Coupled tuned mass dampers for control of coupled vibrations in asymmetric buildings","volume":"13","author":"Desu","year":"2006","journal-title":"J. Struct. Control Health Monit."},{"key":"ref_33","first-page":"897","article-title":"A state-of-the-art review on magnetorheological elastomer devices","volume":"15","author":"Li","year":"2006","journal-title":"J. Smart Mater. Struct."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"N111","DOI":"10.1088\/0964-1726\/15\/5\/N02","article-title":"Development of an adaptive tuned vibration absorber with magnetorheological elastomer","volume":"15","author":"Deng","year":"2006","journal-title":"J. Smart Mater. Struct."},{"key":"ref_35","unstructured":"Plesseira, J.P., Rochus, P., and Defise, J.M. (2000, January 23\u201324). Effective modal masses. Proceedings of the 5th Congr\u00e9s National de M\u00e9ecanique Th\u00e9orique et Appliqu\u00e9e, Louvain-la-neuve, Belgium."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"1","DOI":"10.17485\/ijst\/2016\/v9i48\/102876","article-title":"Modal Analysis of Ship\u2019s Mast Structure using Effective Mass Participation Factor","volume":"9","author":"Ahmad","year":"2016","journal-title":"Indian J. Sci. Technol."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"896","DOI":"10.5254\/1.3542351","article-title":"On the relation between indentation hardness and Young\u2019s modulus","volume":"31","author":"Geant","year":"1958","journal-title":"J. Rubber Chem. Technol."},{"key":"ref_38","unstructured":"Nazirah, A. (2009). A methodology for Developing High Damping Materials with Applications to Noise Reduction of Railway Track. [Ph.D. Thesis, University of Southampton]."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/11\/5\/103\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T00:36:57Z","timestamp":1760143017000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/11\/5\/103"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,9,21]]},"references-count":38,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2022,10]]}},"alternative-id":["robotics11050103"],"URL":"https:\/\/doi.org\/10.3390\/robotics11050103","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2022,9,21]]}}}