摘要
针对一类悬臂式柔性机械臂系统旋转运动过程中的振动抑制问题,首先利用拉格朗日法进行系统动力学建模;然后从频谱分析的角度出发,提出了基于刚度控制区主频定位和阻尼控制区较小幅值两个原则的路径规划设计思路;再通过分析系统的刚柔耦合特性,提出了基于上述原则的路径参数选择方法;最后,基于Quanser Rotary Flexible Link实验系统,以经典Bang-Coast-Bang型路径为例,进行了优化参数的选择。理论分析及实验结果表明,所提路径规划设计思路是有效的,且使用所提方法选择路径参数,可有效减小旋转运动激发的柔性振动,所提思路对柔性结构旋转机动路径规划具有指导意义。
This paper tackles the issues of path planning for rotational motions of a flexible manipulator system with vibration suppression.Dynamic modeling of the system is presented via the Lagrange method.Based on the spectral analysis approach,a novel idea composed of two principles,i.e.dominant-frequency placement in stiffness region and less amplitude in damping region,is proposed for path planning.By analyzing the rigid-flex coupling characteristics of the system,a selection method of path parameters based on the two principles is proposed.A case study of Bang-Coast-Bang path parameter selection on Quanser Rotary Flexible Link system is given.Theoretical analysis and experimental results demonstrate the effectiveness of the proposed idea.The resulting maneuver path using the proposed parameter selection method can reduce stimulation of flexible vibrations effectively.This idea can instruct path planning design for slew maneuvers of flexible structures.
作者
余臻
郭毓
姚伟
吴益飞
郭健
YU Zhen;GUO Yu;YAO Wei;WU Yi-fei;GUO Jian(The 28th Research Institute of China Electronics Technology Group Corporation,Nanjing 210007,China;School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《振动工程学报》
EI
CSCD
北大核心
2020年第4期717-723,共7页
Journal of Vibration Engineering
基金
国家自然科学基金资助项目(61973167,61773211,61673214)
江苏省重点研发计划项目(BE2017161)
江苏高校优势学科建设工程资助项目和江苏省普通高校学术学位研究生创新计划项目(KYLX16_0452)。
关键词
振动抑制
柔性机械臂
频谱分析
旋转运动
路径规划
vibration suppression
flexible manipulator
spectral analysis
rotational motion
path planning
