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Semi-active Vibration Control for SCARA Robot Using Magnetorhelogical Damper
Li ZH(李志海); Wu ZW(吴镇炜); Cui, Jing
作者部门机器人学研究室
会议名称11th World Congress on Intelligent Control and Automation (WCICA 2014)
会议日期June 29 - July 4, 2014
会议地点Shenyang, China
会议录名称Proceeding of the 11th World Congress on Intelligent Control and Automation
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码6133-6138
收录类别EI ; CPCI(ISTP)
EI收录号20152600977177
WOS记录号WOS:000393066206029
产权排序1
ISBN号978-1-4799-5825-2
摘要For smooth operation of SCARA robot for wafer transition, a new method using magenetorhelogical damper for vibration suppression is proposed. Vibration often occurs when the acceleration decrease or increase abruptly. Especially in the end of an operation period, the residual vibration decreases the safety of wafer operation and extends settling time. Firstly, Vibration sources are analyzed. And dynamics model of robot joint considering elasticity is established. Magenetorhelogical damper is introduced into joint structure to realize vibration suppression by physical mean. It could provide a reliable suppression effectiveness. Control structure of joint with elasticity and MR damper is discussed. A PD controller is applied into joint motion control to a desired movement. Frequency characteristics of the joint with MR damper are analyzed. Finally, a simulation is implemented to verify the effectiveness of the proposed method. 
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15382
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Technology (Shenyang Institute of Automation), Shenyang, Liaoning Province, China
2.Mechanical Engineering Departmente, Beijing University of Technology, Beijing, China
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GB/T 7714
Li ZH,Wu ZW,Cui, Jing. Semi-active Vibration Control for SCARA Robot Using Magnetorhelogical Damper[C]. Piscataway, NJ, USA:IEEE,2014:6133-6138.
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