在低频激发和抑制振动技术下对终端效应器强制振动模型的研究
Changqi Li1, Henan Song1, Ruirui Li1
1The Key Lab of Ultra-Precision Intelligent Instrumentation Engineering (Harbin Institute of Technology), Ministry of Industry and Information Technology, Harbin 150001, China.
Micromachines
|March 6, 2025
概括
这项研究引入了一种新的多步向梁模型,以准确预测机器人端效应器振动. 开发的直接反向控制器可以有效地将振动幅度降低50%.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 振动分析 振动分析
背景情况:
- 机器人端效应器定位准确度对于性能至关重要.
- 复杂,轻量级的端效应器设计挑战了传统的振动建模.
- 减轻重量的插槽使终端效应器动态的数学表征变得复杂.
研究的目的:
- 开发一个准确的数学模型,用于终端效应器的振动.
- 在固定端激发下分析振动响应.
- 提供一个控制器,以有效地抑制振动.
主要方法:
- 提出了一种多阶段的光束模型.
- 使用了变量和元素传输方法的分离.
- 进行了数值分析和实验验证.
- 开发了一种用于抑制振动的直接反向控制器.
主要成果:
- 模态形状函数和自然频率的准确数学模型.
- 在固定端激发下对振动响应的分析.
- 实验验证证了模型的准确性.
- 直接反向控制器实现了50%的振幅抑制率.
结论:
- 多步式光束模型准确地描述了终端效应器的振动.
- 直接反向控制器在复杂的机器人系统中有效抑制振动.
- 实验结果验证了提出的建模和控制策略.
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