摘要
输入整形方法是一种根据结构振动特性对外力函数进行整形,以达到振动抑制效果的方法。本文以三连杆二关节的2自由度机械臂为例,详细推导了机械臂(逆)运动学和输入整形方法,设计了行程和输入整形函数,将整形后的动态响应与逆运动学方法的解析结果进行比较。研究结果表明:输入整形方法能有效抑制2自由度机械臂运行时的振动。该方法可以拓展到7自由度机械臂,针对柔性特征明显的空间站大型机械臂末端振动抑制也有直接参考意义,具备空间大型柔性结构基座机器人在轨精细控制的应用前景。
The input shaping method is a shaping approach applied to the external load function based on the vibration features of structures so as to achieve the effect of vibration suppression.In this paper,a mechanical arm with two degrees of freedom constructed by three links and two joints is illustrated as an example.The(inverse)kinematics of this mechanical arm and the input shaping method are deduced in detail.The route and the input shaping function are designed.The dynamic responses after input shaping are compared with the analytical results based on inverse kinematics.The results reveal that the input shaping method can effectively suppress the vibration induced by the operation of mechanical arm with two degrees of freedom.The method can be extended to the mechanical arm with seven degrees of freedom,has direct reference significance for the end vibration suppression to the large mechanical arms with obvious flexible characteristics of the space station,and has the application prospect of fine on-orbit control for the manipulation of robots with large flexible structures.
作者
张美艳
邹怀武
王和庆
唐国安
ZHANG Meiyan;ZOU Huaiwu;WANG Heqing;TANG Guoan(Department of Aeronautics and Astronautics,Fudan University,Shanghai 200433,China;Shanghai Aerospace System Engineering Institute,Shanghai 201109,China)
出处
《上海航天（中英文）》
CSCD
2020年第5期37-42,共6页
Aerospace Shanghai（Chinese&English）
基金
国家自然科学基金(11572089)。
关键词
输入整形方法
振动抑制
动态响应
运动学
2自由度机械臂
input shaping method
vibration suppression
dynamic response
kinematics
manipulator of two degrees of freedom
