發(fā)布時間：2019-03-25 21:43

【摘要】：柔性機(jī)構(gòu)因重量較輕,具備快速響應(yīng),耗能少、大載荷比等優(yōu)點在機(jī)器人領(lǐng)域成為了研究熱點。但柔性材料因其剛度較低,易產(chǎn)生變形,從而降低了機(jī)械臂的操作和工作精度。使用有效的抑振方法能夠提高柔性機(jī)構(gòu)的抑振效果。近年來的研究通常使用壓電陶瓷驅(qū)動器件建立閉環(huán)控制系統(tǒng)實現(xiàn)抑振。然而采用可調(diào)整的抑振方法具有明顯的控制效果。本文的主要研究內(nèi)容如下:基于材料力學(xué)和彈性力學(xué)理論建立柔性機(jī)械臂的動力學(xué)方程,并建立了柔性機(jī)械臂抑振系統(tǒng)的理論模型。在COMSOL中對柔性機(jī)械臂進(jìn)行模態(tài)分析,并基于柔性機(jī)械臂前三階模態(tài)下的振型圖設(shè)計出分別對應(yīng)于每一階模態(tài)的柔性機(jī)械臂抑振器。在模態(tài)分析中,將柔性機(jī)械臂彎曲變形最大的位置作為振動控制的理論最優(yōu)位置。通過Labview數(shù)據(jù)采集器得到最優(yōu)控制位置及附近的柔性機(jī)械臂振動的傳感電壓,根據(jù)控制前后傳感電壓的變化分析柔性臂抑振效果。根據(jù)實驗結(jié)果顯示,柔性臂在前三階振動下,分別在其理論最優(yōu)控制位置上獲得最高的抑振率,從而驗證了最優(yōu)控制位置的有效性�；�于柔性機(jī)械臂主動抑振理論最優(yōu)位置的有效性,搭建了基于步進(jìn)電機(jī)的柔性機(jī)械臂抑振測試系統(tǒng)。通過對柔性臂自由振動傳感電壓時域信號圖進(jìn)行FFT處理得知,柔性臂的振動能量主要由前兩階模態(tài)振動組成�；�于此,分別對基于步進(jìn)電機(jī)在靜態(tài)偏置狀態(tài)和運(yùn)行狀態(tài)下的柔性機(jī)械臂進(jìn)行抑振測試研究。根據(jù)實驗結(jié)果得出:在柔性機(jī)械臂一階模態(tài)和二階模態(tài)的最優(yōu)抑振位置對其進(jìn)行振動控制均有抑振效果,且在一階模態(tài)最優(yōu)抑振位置對柔性臂進(jìn)行抑振能夠使其更快地達(dá)到穩(wěn)定狀態(tài)。
[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.
【學(xué)位授予單位】：安徽工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP241

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 馬小陸;胡興柳;;負(fù)電容壓電阻尼振動控制系統(tǒng)穩(wěn)定性研究[J];機(jī)械科學(xué)與技術(shù);2016年03期

2 馬艷龍;李映輝;;求解變截面梁振動特性的假設(shè)模態(tài)法[J];重慶理工大學(xué)學(xué)報(自然科學(xué));2015年04期

3 曹玉巖;王志臣;付世欣;吳慶林;;智能桁架結(jié)構(gòu)最優(yōu)振動控制與作動器優(yōu)化配置[J];振動與沖擊;2015年05期

4 張端;林晨寬;何熊熊;;低頻振動能量收集裝置的設(shè)計和數(shù)值模擬[J];傳感技術(shù)學(xué)報;2012年09期

5 譚國金;劉寒冰;程永春;王龍林;劉斌;;基于車-橋耦合振動的簡支梁橋沖擊效應(yīng)[J];吉林大學(xué)學(xué)報(工學(xué)版);2011年01期

6 湯奧斐;李言;仇原鷹;孔令飛;;大跨度柔索驅(qū)動并聯(lián)機(jī)構(gòu)逆動力學(xué)研究[J];機(jī)械科學(xué)與技術(shù);2010年04期

7 朱燈林;呂蕊;俞潔;;壓電智能懸臂梁的壓電片位置、尺寸及控制融合優(yōu)化設(shè)計[J];機(jī)械工程學(xué)報;2009年02期

8 方勃;耿英;耿輝;;基于H_∞理論的柔性機(jī)械臂振動主動控制[J];沈陽建筑大學(xué)學(xué)報(自然科學(xué)版);2008年03期

9 耿英;方勃;耿輝;范紅;;壓電材料在振動主動控制中的應(yīng)用[J];機(jī)電產(chǎn)品開發(fā)與創(chuàng)新;2007年05期

10 邱志成;;柔性機(jī)械臂的變結(jié)構(gòu)振動控制研究[J];動力學(xué)與控制學(xué)報;2007年01期

相關(guān)碩士學(xué)位論文 前3條

1 薛彬;基于壓電陶瓷的柔性機(jī)械臂抑振策略的研究[D];安徽工程大學(xué);2016年

2 洪品;機(jī)械臂的有限元建模與振動特性分析[D];上海工程技術(shù)大學(xué);2016年

3 楊康華;柔性機(jī)械臂的振動控制與實驗研究[D];北京郵電大學(xué);2011年

，

本文編號：2447346