Cantilever tail end vibration analysis and error compensation method

Abstract

The invention discloses a cantilever tail end vibration analysis and error compensation method, which comprises the following steps: simulating low-frequency vibration of the cantilever by a base body Stewart platform, and compensating the space error of an actuator tail end by a positioning Stewart platform based on the value measured by a laser displacement transducer; and simulating high-frequency vibration of the cantilever by a scaled-down cantilever based on the parameterized standard excitation, measuring the space error of the actuator tail end based on a cantilever distribution parameter dynamic model and a force sensor, and compensating the space error by the positioning Stewart platform based on the measuring, wherein the compensation effect is assessed by the laser displacement transducer. According to the invention, the space error of the cantilever tail end is measured based on a cantilever precise dynamic model and the force sensor, which improves the error compensation precision and efficiency of the positioning Stewart platform; and meanwhile, based on the space error caused by the positioning Stewart platform in compensating high / low-frequency vibration, the static and dynamic positioning accuracy of the actuator can be improved.

Description

Technical field [0001] The invention relates to the application field of mechanical vibration and robot technology, in particular to a cantilever vibration analysis and error compensation method. Background technique [0002] Because of its light weight and fast moving speed, flexible cantilever occupies a very important position in applications such as unmanned remote sensing operations, precision manufacturing, and national defense. However, due to the large deflection and low damping of the flexible cantilever, it is easy to be subjected to external forces during the movement to produce continuous vibration, which affects the accuracy and efficiency of terminal positioning and limits its further application. The length of the cantilever used in engineering practice is generally greater than 5m, which takes up a large space, which makes the construction of the experimental platform inconvenient, and the platform is expensive, which brings difficulties to the vibration analysis ...

AI Technical Summary

Problems solved by technology

However, this vibration suppression method is inflexible, and the effect of low-frequency vibration suppression is not good; the error compensation method is to use the active actuator to compensate the position error caused by deformation or vibration, so as to improve the positioning accuracy of the end

Harbin Institute of Technology patent 200410013627.7 relates to a method for precise positioning of a six-degree-of-freedom parallel robot, which can effectively compensate for position errors caused by low-frequency vibrations, but has low compensation efficiency and poor accuracy for errors caused by high-frequency vibrations

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