Flexible mechanical arm control device and method based on reciprocating vibration chain body elastic base

Abstract

The invention discloses a flexible mechanical arm control device and method based on a reciprocating vibration chain body elastic base, and the device comprises a flexible arm body part, a vibration detection part, and a vibration control part; the flexible arm body part comprises three flexible single bodies, and the three flexible single bodies are sequentially connected through springs, and aredisposed on a linear guide rail. Under the action of a piston type vibration exciter, the three flexible single bodies reciprocate, vibration of each flexible beam is detected through a laser displacement sensor and a piezoelectric ceramic sensor, and a piezoelectric ceramic driver and a servo motor are used as actuators for vibration suppression. The device can be used for researching the influence of factors such as linear guide rail friction and spring rigidity on the coupling vibration of a flexible mechanical arm system of a chain body elastic base and a corresponding vibration control method.

Description

technical field [0001] The invention relates to the field of vibration control of flexible structures, in particular to a control device and method for a flexible mechanical arm based on an elastic base of a reciprocating vibration chain body. Background technique [0002] Space manipulator technology is an important technology in the field of aerospace, and it is an important tool to assist in the completion of aircraft space docking and target handling. However, the natural frequency of the space manipulator is low, and the low-frequency vibration mode is easily excited by interference. The various vibration effects presented in the system will seriously affect the stability of the spacecraft. In order to expand the working range of the manipulator, the space manipulator is generally installed on the mobile base, and the mobile base can move along the guide rail. The vibration generated during the movement will have a non-negligible impact on the tracking trajectory of the...

AI Technical Summary

Problems solved by technology

[0002] Space manipulator technology is an important technology in the field of aerospace, and it is an important tool to assist in the completion of aircraft space docking and target handling. However, the natural frequency of the space manipulator is low, and the low-frequency vibration mode is easily excited by interference. The various vibration effects presented in will seriously affect the stability of the spacecraft

In order to expand the working range of the manipulator, the space manipulator is generally installed on the mobile base, and the mobile base can move along the guide rail. The vibration generated during the movement will have a non-negligible impact on the tracking trajectory of the end. It has a certain impact on the normal operation of other components; compared with the flexible manipulator on the fixed base, the flexible manipulator under the elastic base has stronger nonlinearity and strong coupling, and its analysis is more complicated, so it is necessary to analyze its research

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