【摘要】：柔性機(jī)構(gòu)因重量較輕,具備快速響應(yīng),耗能少、大載荷比等優(yōu)點(diǎn)在機(jī)器人領(lǐng)域成為了研究熱點(diǎn)。但柔性材料因其剛度較低,易產(chǎn)生變形,從而降低了機(jī)械臂的操作和工作精度。使用有效的抑振方法能夠提高柔性機(jī)構(gòu)的抑振效果。近年來的研究通常使用壓電陶瓷驅(qū)動(dòng)器件建立閉環(huán)控制系統(tǒng)實(shí)現(xiàn)抑振。然而采用可調(diào)整的抑振方法具有明顯的控制效果。本文的主要研究內(nèi)容如下:基于材料力學(xué)和彈性力學(xué)理論建立柔性機(jī)械臂的動(dòng)力學(xué)方程,并建立了柔性機(jī)械臂抑振系統(tǒng)的理論模型。在COMSOL中對(duì)柔性機(jī)械臂進(jìn)行模態(tài)分析,并基于柔性機(jī)械臂前三階模態(tài)下的振型圖設(shè)計(jì)出分別對(duì)應(yīng)于每一階模態(tài)的柔性機(jī)械臂抑振器。在模態(tài)分析中,將柔性機(jī)械臂彎曲變形最大的位置作為振動(dòng)控制的理論最優(yōu)位置。通過Labview數(shù)據(jù)采集器得到最優(yōu)控制位置及附近的柔性機(jī)械臂振動(dòng)的傳感電壓,根據(jù)控制前后傳感電壓的變化分析柔性臂抑振效果。根據(jù)實(shí)驗(yàn)結(jié)果顯示,柔性臂在前三階振動(dòng)下,分別在其理論最優(yōu)控制位置上獲得最高的抑振率,從而驗(yàn)證了最優(yōu)控制位置的有效性。基于柔性機(jī)械臂主動(dòng)抑振理論最優(yōu)位置的有效性,搭建了基于步進(jìn)電機(jī)的柔性機(jī)械臂抑振測試系統(tǒng)。通過對(duì)柔性臂自由振動(dòng)傳感電壓時(shí)域信號(hào)圖進(jìn)行FFT處理得知,柔性臂的振動(dòng)能量主要由前兩階模態(tài)振動(dòng)組成�；诖�,分別對(duì)基于步進(jìn)電機(jī)在靜態(tài)偏置狀態(tài)和運(yùn)行狀態(tài)下的柔性機(jī)械臂進(jìn)行抑振測試研究。根據(jù)實(shí)驗(yàn)結(jié)果得出:在柔性機(jī)械臂一階模態(tài)和二階模態(tài)的最優(yōu)抑振位置對(duì)其進(jìn)行振動(dòng)控制均有抑振效果,且在一階模態(tài)最優(yōu)抑振位置對(duì)柔性臂進(jìn)行抑振能夠使其更快地達(dá)到穩(wěn)定狀態(tài)。
[Abstract]:Because of its light weight, fast response, low energy consumption and large load ratio, the flexible mechanism has become a research hotspot in the field of robots. However, the flexible material is easy to deform because of its low stiffness, thus reducing the operation and working precision of the manipulator. The effective vibration suppression method can improve the vibration suppression effect of flexible mechanism. In recent years, piezoelectric ceramic actuators are usually used to set up closed-loop control system to suppress vibration. However, the use of adjustable vibration suppression method has obvious control effect. The main contents of this paper are as follows: based on the theory of material mechanics and elastic mechanics, the dynamic equation of flexible manipulator is established, and the theoretical model of vibration suppression system of flexible manipulator is established. The modal analysis of the flexible manipulator is carried out in COMSOL. Based on the vibration pattern of the first three modes of the flexible manipulator, the vibration absorber of the flexible manipulator corresponding to each mode is designed. In modal analysis, the maximum position of bending deformation of flexible manipulator is regarded as the theoretical optimal position of vibration control. The optimal control position and the vibration sensing voltage of the flexible manipulator are obtained by the Labview data acquisition device. The vibration suppression effect of the flexible arm is analyzed according to the change of the sensing voltage before and after the control. According to the experimental results, it is shown that the maximum vibration suppression rate is obtained in the theoretical optimal control position for the flexible arm under the first three-order vibration, thus the effectiveness of the optimal control position is verified. Based on the validity of the optimal position of the active vibration suppression theory of the flexible manipulator, a testing system for the vibration suppression of the flexible manipulator based on stepping motor is built. Through the FFT processing of the free vibration sensing voltage signal diagram of the flexible arm, it is found that the vibration energy of the flexible arm is mainly composed of the first two modal vibrations. Based on this, the vibration suppression test of the flexible manipulator based on stepping motor in static bias state and running state is carried out. According to the experimental results, it can be concluded that the vibration control of the flexible manipulator is effective at the optimal vibration suppression position of the first mode and the second mode of the flexible manipulator. The vibration suppression of the flexible arm at the first-order optimal vibration suppression position can make the flexible arm reach the stable state more quickly.
【學(xué)位授予單位】：安徽工程大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP241

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