|Alternative Title||Research on Vibration Suppression of the Flexible Joint Manipulator|
|Keyword||柔性关节机械臂 振动抑制 轨迹优化 动力吸振器 主动消隙|
|Place of Conferral||沈阳|
In this paper, the vibration suppression of the flexible joint manipulator(FJM) is studied in depth. And the research is sponsored by the space station research project "Development of the Space Station Glove Box Manipulator System", "Research on Large-scale and High-precision Friction Stir Welding Equipment for Thin-shell Structures", "Development of the Space Station Manupulator" which is a leading project of the Chinese Academy of Sciences, and National Natural Science Foundation of China. Firstly, the causes of vibration are analyzed. Then, the vibration suppression methods and strategies are proposed from the aspects of trajectory smoothing, feedforward compensation, trajectory optimization, vibration absorption and anti-backlash. Detailed simulation and experimental verification are also carried out.. The research process and detailed descriptions are as follows: (1) The dynamics modeling method of the FJM is expounded, and the vibration calculation formula of the FJM is deduced based on the vibration theory of multi-degree of freedom system. The overall strategy of vibration suppression is put forward. (2) A lightweight FJM is built, and the joint damping and friction parameters are identified. The control system model of the FJM is constructed. The trajectory error and vibration response of the manipulator under four control modes are simulated and calculated. and the influences of link dynamics and friction on trajectory error and vibration are analyzed. The performance of motion control is verified by experiments, and the influences of cubic spline and quintic spline trajectory planning on the vibration response of the manipulator are compared through actual tests. (3) The optimal S-curve planning method is applied to the FJM to suppress the residual vibration of the manipulator in point-to-point motion at high speed. All the joint trajectories are planned through S curves, and the maximum amplitude of residual vibration of the manipulator end point at the target point is taken as the suppression target. The S-curve parameters of all joints are taken as the optimizing parameters, and the genetic algorithm is used to obtain the optimal values. The robustness of the algorithm is also analyzed. Finally, the effectiveness of the optimal S curve on residual vibration suppression is verified by experiments. (4) To solve the problem that it is difficult to add damping to the flexible joint manipulator, a method of adding three-dimensional dynamic absorber at the end of the manipulator to increase the system damping is proposed. The coupling dynamics equation of the flexible joint manipulator and the dynamic absorber is deduced, and the design method of the dynamic absorber is expounded. The vibration suppression effect of single vibration absorber and multi absorbers is simulated and analyzed. The robustness of vibration control method is analyzed, and the effectiveness of vibration suppression with the dynamic vibration absorber is verified by experiment. (5) The vibration phenomenon of flexible joint caused by backlash in transmission mechanism is analyzed, and the method of active anti-backlash with two motors is proposed to suppress the vibration of flexible joint caused by the backlash. Taking the wrist joint of friction stir welding robot as an example, the dynamics model of flexible joint with backlash drived by two motors is deduced, and the control system is constructed. The effect and robustness of active anti-backlash method for suppressing vibration are stuided by simulation. The experimental results show that the active anti-backlash method can make the heavy-duty friction stir welding robot achieve high precision welding ability.
|宛敏红. 柔性关节机械臂振动抑制研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2018.|
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