基于压电陶瓷的柔性机械臂主动振动控制实验研究
发布时间：2018-07-22 20:10
【摘要】：柔性机构因其工作效率高,能量消耗低和结构简单等优点被广泛应用于机器人领域。但柔性机构由于刚度较低,易产生弹性振动,使机器人的定位精度和运动精度降低。为了验证在前期的工作中提出的柔性机械臂主动振动最优控制位置分析的正确性,搭建了一个基于Labview的测试系统。在柔性臂上不同位置粘贴压电片来实现对柔性臂不同位置的主动振动控制,通过测试系统得到最优控制位置处和最优控制位置附近的柔性机械臂振动的传感电压,根据控制前后传感电压的变化分析柔性臂抑制的强弱。根据实验结果显示,柔性臂在前三阶振动下,分别在其最优控制位置上获得最高的抑振率,从而验证了最优控制位置的有效性。
[Abstract]:Flexible mechanism is widely used in robot field because of its high efficiency, low energy consumption and simple structure. However, the flexible mechanism is easy to produce elastic vibration because of its low stiffness, which reduces the positioning accuracy and motion accuracy of the robot. In order to verify the correctness of the position analysis of flexible manipulator active vibration optimal control proposed in the previous work, a testing system based on LabVIEW was built. In order to realize the active vibration control of the flexible arm at different positions, the sensing voltage of the vibration of the flexible manipulator at and near the optimal control position is obtained by the testing system. According to the change of sensing voltage before and after control, the strength of flexible arm suppression is analyzed. The experimental results show that under the first three steps of vibration, the flexible arm obtains the highest vibration suppression rate in its optimal control position, which verifies the effectiveness of the optimal control position.
【作者单位】： 安徽工程大学机械与汽车工程学院;先进数控与伺服驱动安徽省重点实验室;
【基金】：国家自然科学基金项目(51275001,51375469) 安徽省自然科学基金项目(KJ2012A033)
【分类号】：TP241
[Abstract]:Flexible mechanism is widely used in robot field because of its high efficiency, low energy consumption and simple structure. However, the flexible mechanism is easy to produce elastic vibration because of its low stiffness, which reduces the positioning accuracy and motion accuracy of the robot. In order to verify the correctness of the position analysis of flexible manipulator active vibration optimal control proposed in the previous work, a testing system based on LabVIEW was built. In order to realize the active vibration control of the flexible arm at different positions, the sensing voltage of the vibration of the flexible manipulator at and near the optimal control position is obtained by the testing system. According to the change of sensing voltage before and after control, the strength of flexible arm suppression is analyzed. The experimental results show that under the first three steps of vibration, the flexible arm obtains the highest vibration suppression rate in its optimal control position, which verifies the effectiveness of the optimal control position.
【作者单位】： 安徽工程大学机械与汽车工程学院;先进数控与伺服驱动安徽省重点实验室;
【基金】：国家自然科学基金项目(51275001,51375469) 安徽省自然科学基金项目(KJ2012A033)
【分类号】：TP241
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