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Main resonance control method of flexible mechanical arm

A flexible manipulator and control method technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem that the research on active control methods needs to be strengthened, and achieve the effect of improving dynamic performance

Active Publication Date: 2021-11-09
BEIHANG UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

[0004] At present, the research on primary resonance control of flexible manipulators mainly focuses on passive control methods, and the research on active control methods needs to be strengthened

Method used

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  • Main resonance control method of flexible mechanical arm
  • Main resonance control method of flexible mechanical arm
  • Main resonance control method of flexible mechanical arm

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Embodiment Construction

[0063] The present invention will be further described in detail below with reference to the accompanying drawings and specific examples, but the implementation of the invention is not limited thereto.

[0064] The present invention proposes a method of flexible mechanical arms, a combination of resonance mechanism, a main resonance mechanism, and a saturation mechanism to achieve vibration control of the robot arm.

[0065] Among them, nonlinear dynamics modeling, main resonance analysis, and saturation mechanism analysis of the flexible robotic arm containing the enharper. In order to clearly clearly explain the main coincidence inhibition method proposed by the present invention, figure 1 The simplified model is used instead of the specific flexible robotic arm model.

[0066] The specific steps are as follows:

[0067] Step 1: Reasonably assume the flexible robot arm and joint; assuming that the material of the flexible robotic arm is uniform, the material is the same - the st...

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Abstract

The invention discloses a main resonance control method of a flexible mechanical arm. The method mainly comprises the steps that transverse bending deformation of the flexible mechanical arm is discretized, and a deformation equation of the flexible mechanical arm is obtained; a rigidity feedback coefficient, a damping feedback coefficient and a nonlinear coupling feedback coefficient of a main resonance vibration absorber are introduced, and a vibration absorber control signal model is constructed; a Kane method is utilized for building a flexible mechanical arm vibration control model for installing the main resonance vibration absorber; a finite element modal simulation method is adopted for researching the influence of vibration absorber installation on the vibration characteristics of the flexible mechanical arm; a multi-scale method is applied for solving an approximate analytical solution of the equation, and a single-modal solution and a double-modal solution of vibration system steady-state response are obtained; and finally, under the main resonance condition of the flexible mechanical arm, on the basis of the saturation principle, the main resonance vibration absorber is utilized for controlling main resonance of the flexible mechanical arm, and therefore the modal amplitude of the controlled mode of the flexible mechanical arm is restrained.

Description

Technical field [0001] The present invention relates to a main resonance control method of a flexible robot arm, which studies a nonlinear dynamic characteristic problem containing 1: 1 main resonance in the carrier, and proposes nonlinear saturation. The main resonance damping method of the control principle can effectively suppress the main resonance of the flexible robotic arm. Background technique [0002] With the advancement of modern technology, high-speed, precision and lightweight flexible robotic arms reflect significant advantages such as low power, high efficiency, better environmental adaptability in practical applications, are widely used in industrial manufacturing and aerospace. . However, the impact of flexible factors on structural design and control, mainly in large-scale, large flexible structure after generating vibration, is difficult to attenuate in a short period of time due to its own damping. Not only that, if the flexible robotic arm is continuously vib...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/163B25J9/1612B25J9/1661Y02T90/00
Inventor 边宇枢耿瑞海刘鹏靳博涵彭佳乐
Owner BEIHANG UNIV
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