Composite driving system integrated by shearing type controllable damping and linear motor

Abstract

The invention relates to a composite driving system integrated by shearing type controllable damping and a linear motor. The movement of a flexible arm load satisfies the requirement and compensates large-amplitude vibration through adjustment of the linear motor and a driving damper, strain-stress observation is provided through strain gauges and accelerometers of the flexible arm, vibration of the end of the flexible arm load is locally suppressed with the combination of the adjustment of support dampers, goals of more accurate end moving position and suppression of micro-vibration are achieved, ultra-precision control in the high-speed and variable-load condition is realized, and the anti-interference is high. According to the composite driving system, conditions of movement control and vibration suppression of a space flexible arm, a satellite with solar cell panels, and an industrial field flexible mechanical arm can be simulated and verified, a precision test prototype apparatus for verifying the control algorithm and the effect test for suppressing the vibration of the flexible arm by the driving dampers and the support dampers is provided, and the application prospect is very good in high-end equipment in the field of robots, precision manufacture and aerospace etc.

Description

technical field [0001] The invention relates to a composite driving system integrating shear type controllable damping and a linear motor. The composite drive system can be used for vibration suppression and precision motion control of flexible arms for high-end equipment with flexible structures in the fields of robotics, precision manufacturing, and aerospace. Background technique [0002] With the increasing frequency of space exploration, the space station, as a long-term extraterrestrial experiment base, often needs to be repaired due to the particularity of its external environment, so it is necessary to use a space manipulator. The space manipulator often needs to carry heavy accessories, and due to the limitation of the carrying capacity of the launch rocket, the space manipulator cannot be made too heavy, and light materials become the first choice for manufacturing the space manipulator, which causes the load and self-weight ratio of the manipulator to increase. b...

AI Technical Summary

Problems solved by technology

This kind of vibration not only consumes extra energy, but even causes the satellite to flip and deviate from the orbit, causing greater losses

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