基于压电陶瓷的柔性机械臂抑振方法的实验研究
发布时间：2019-03-25 21:43
【摘要】：柔性机构因重量较轻,具备快速响应,耗能少、大载荷比等优点在机器人领域成为了研究热点。但柔性材料因其刚度较低,易产生变形,从而降低了机械臂的操作和工作精度。使用有效的抑振方法能够提高柔性机构的抑振效果。近年来的研究通常使用压电陶瓷驱动器件建立闭环控制系统实现抑振。然而采用可调整的抑振方法具有明显的控制效果。本文的主要研究内容如下:基于材料力学和弹性力学理论建立柔性机械臂的动力学方程,并建立了柔性机械臂抑振系统的理论模型。在COMSOL中对柔性机械臂进行模态分析,并基于柔性机械臂前三阶模态下的振型图设计出分别对应于每一阶模态的柔性机械臂抑振器。在模态分析中,将柔性机械臂弯曲变形最大的位置作为振动控制的理论最优位置。通过Labview数据采集器得到最优控制位置及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振效果。根据实验结果显示,柔性臂在前三阶振动下,分别在其理论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。基于柔性机械臂主动抑振理论最优位置的有效性,搭建了基于步进电机的柔性机械臂抑振测试系统。通过对柔性臂自由振动传感电压时域信号图进行FFT处理得知,柔性臂的振动能量主要由前两阶模态振动组成。基于此,分别对基于步进电机在静态偏置状态和运行状态下的柔性机械臂进行抑振测试研究。根据实验结果得出:在柔性机械臂一阶模态和二阶模态的最优抑振位置对其进行振动控制均有抑振效果,且在一阶模态最优抑振位置对柔性臂进行抑振能够使其更快地达到稳定状态。
[Abstract]:Because of its light weight, fast response, low energy consumption and large load ratio, the flexible mechanism has become a research hotspot in the field of robots. However, the flexible material is easy to deform because of its low stiffness, thus reducing the operation and working precision of the manipulator. The effective vibration suppression method can improve the vibration suppression effect of flexible mechanism. In recent years, piezoelectric ceramic actuators are usually used to set up closed-loop control system to suppress vibration. However, the use of adjustable vibration suppression method has obvious control effect. The main contents of this paper are as follows: based on the theory of material mechanics and elastic mechanics, the dynamic equation of flexible manipulator is established, and the theoretical model of vibration suppression system of flexible manipulator is established. The modal analysis of the flexible manipulator is carried out in COMSOL. Based on the vibration pattern of the first three modes of the flexible manipulator, the vibration absorber of the flexible manipulator corresponding to each mode is designed. In modal analysis, the maximum position of bending deformation of flexible manipulator is regarded as the theoretical optimal position of vibration control. The optimal control position and the vibration sensing voltage of the flexible manipulator are obtained by the Labview data acquisition device. The vibration suppression effect of the flexible arm is analyzed according to the change of the sensing voltage before and after the control. According to the experimental results, it is shown that the maximum vibration suppression rate is obtained in the theoretical optimal control position for the flexible arm under the first three-order vibration, thus the effectiveness of the optimal control position is verified. Based on the validity of the optimal position of the active vibration suppression theory of the flexible manipulator, a testing system for the vibration suppression of the flexible manipulator based on stepping motor is built. Through the FFT processing of the free vibration sensing voltage signal diagram of the flexible arm, it is found that the vibration energy of the flexible arm is mainly composed of the first two modal vibrations. Based on this, the vibration suppression test of the flexible manipulator based on stepping motor in static bias state and running state is carried out. According to the experimental results, it can be concluded that the vibration control of the flexible manipulator is effective at the optimal vibration suppression position of the first mode and the second mode of the flexible manipulator. The vibration suppression of the flexible arm at the first-order optimal vibration suppression position can make the flexible arm reach the stable state more quickly.
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241
本文编号：2447346
[Abstract]:Because of its light weight, fast response, low energy consumption and large load ratio, the flexible mechanism has become a research hotspot in the field of robots. However, the flexible material is easy to deform because of its low stiffness, thus reducing the operation and working precision of the manipulator. The effective vibration suppression method can improve the vibration suppression effect of flexible mechanism. In recent years, piezoelectric ceramic actuators are usually used to set up closed-loop control system to suppress vibration. However, the use of adjustable vibration suppression method has obvious control effect. The main contents of this paper are as follows: based on the theory of material mechanics and elastic mechanics, the dynamic equation of flexible manipulator is established, and the theoretical model of vibration suppression system of flexible manipulator is established. The modal analysis of the flexible manipulator is carried out in COMSOL. Based on the vibration pattern of the first three modes of the flexible manipulator, the vibration absorber of the flexible manipulator corresponding to each mode is designed. In modal analysis, the maximum position of bending deformation of flexible manipulator is regarded as the theoretical optimal position of vibration control. The optimal control position and the vibration sensing voltage of the flexible manipulator are obtained by the Labview data acquisition device. The vibration suppression effect of the flexible arm is analyzed according to the change of the sensing voltage before and after the control. According to the experimental results, it is shown that the maximum vibration suppression rate is obtained in the theoretical optimal control position for the flexible arm under the first three-order vibration, thus the effectiveness of the optimal control position is verified. Based on the validity of the optimal position of the active vibration suppression theory of the flexible manipulator, a testing system for the vibration suppression of the flexible manipulator based on stepping motor is built. Through the FFT processing of the free vibration sensing voltage signal diagram of the flexible arm, it is found that the vibration energy of the flexible arm is mainly composed of the first two modal vibrations. Based on this, the vibration suppression test of the flexible manipulator based on stepping motor in static bias state and running state is carried out. According to the experimental results, it can be concluded that the vibration control of the flexible manipulator is effective at the optimal vibration suppression position of the first mode and the second mode of the flexible manipulator. The vibration suppression of the flexible arm at the first-order optimal vibration suppression position can make the flexible arm reach the stable state more quickly.
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241
【参考文献】
相关期刊论文 前10条
1 马小陆;胡兴柳;;负电容压电阻尼振动控制系统稳定性研究[J];机械科学与技术;2016年03期
2 马艳龙;李映辉;;求解变截面梁振动特性的假设模态法[J];重庆理工大学学报(自然科学);2015年04期
3 曹玉岩;王志臣;付世欣;吴庆林;;智能桁架结构最优振动控制与作动器优化配置[J];振动与冲击;2015年05期
4 张端;林晨宽;何熊熊;;低频振动能量收集装置的设计和数值模拟[J];传感技术学报;2012年09期
5 谭国金;刘寒冰;程永春;王龙林;刘斌;;基于车-桥耦合振动的简支梁桥冲击效应[J];吉林大学学报(工学版);2011年01期
6 汤奥斐;李言;仇原鹰;孔令飞;;大跨度柔索驱动并联机构逆动力学研究[J];机械科学与技术;2010年04期
7 朱灯林;吕蕊;俞洁;;压电智能悬臂梁的压电片位置、尺寸及控制融合优化设计[J];机械工程学报;2009年02期
8 方勃;耿英;耿辉;;基于H_∞理论的柔性机械臂振动主动控制[J];沈阳建筑大学学报(自然科学版);2008年03期
9 耿英;方勃;耿辉;范红;;压电材料在振动主动控制中的应用[J];机电产品开发与创新;2007年05期
10 邱志成;;柔性机械臂的变结构振动控制研究[J];动力学与控制学报;2007年01期
相关硕士学位论文 前3条
1 薛彬;基于压电陶瓷的柔性机械臂抑振策略的研究[D];安徽工程大学;2016年
2 洪品;机械臂的有限元建模与振动特性分析[D];上海工程技术大学;2016年
3 杨康华;柔性机械臂的振动控制与实验研究[D];北京邮电大学;2011年
，本文编号：2447346
本文链接：https://www.wllwen.com/shoufeilunwen/xixikjs/2447346.html
