Actively vibration damping method and device based on controllable local degree of freedom

A technology of active vibration reduction and vibration reduction device, which is applied in manipulators, manufacturing tools, etc., can solve the problems of complex dynamic behavior of flexible manipulators and slow progress in dynamic performance optimization research.

Inactive Publication Date: 2012-12-19
BEIHANG UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] The current vibration control methods have made significant progress in the general vibration of soft robots with weak flexibility effects and can be linearized. Research on dynamic performance optimization centered on linear vibration control is progressing slowly

Method used

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  • Actively vibration damping method and device based on controllable local degree of freedom
  • Actively vibration damping method and device based on controllable local degree of freedom
  • Actively vibration damping method and device based on controllable local degree of freedom

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Embodiment Construction

[0105] The present invention will be described in detail below in conjunction with the accompanying drawings and examples.

[0106] See figure 1 , the present invention is an active damping device based on controllable local degrees of freedom. The damping device 7 is composed of a servo motor 4, a rigid strut 3, and an end mass 5 with adjustable position and mass. The vibration damping device 7 is installed on the flexible mechanical arm 2 of the flexible robot to reduce the vibration of the end effector 6 of the flexible robot. The position connection relationship between them is: the flexible mechanical arm 2 is connected in series by joints. One end of the rigid strut 3 is connected to the output shaft of the servo motor 4 through the hub 9, and the other end is fixedly connected to the end mass 5, and the entire vibration damping device is connected to the flexible mechanical arm 2 through the clamp 8, such as figure 2 shown.

[0107] The flexible manipulator 2 is a s...

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Abstract

An actively vibration damping device based on controllable local degree of freedom is characterized in that the vibration damping device consists of a servo motor, a rigid support bar, and an end mass block with the position and mass adjustable; one end of the rigid support bar is connected with the output shaft of the servo motor via a wheel hub, and the other end is fixedly connected with the end mass block; the entire vibration damping device is connected with a flexible mechanical arm via a fixture; the flexible mechanical arm is formed by serially connected joints; and the vibration damping device is installed on the flexible mechanical arm of a flexible robot, so that the end executor vibration of the flexible robot can be reduced. An actively vibration damping method based on controllable local degree of freedom comprises eight steps. The device and the method disclosed by the invention optimizes the dynamic performances of the flexible robot, improves the kinematic accuracy of the flexible robot, and has higher application value in the fields of flexible robots, precision machinery and microelectronic machinery.

Description

technical field [0001] The invention relates to an active vibration reduction method and device based on a controllable local degree of freedom. It constructs a controllable local degree of freedom shock absorber based on internal resonance from a nonlinear point of view, and can be formed between a flexible robot and a shock absorber. The energy exchange channel enables the vibration energy of the soft robot to be transferred to the shock absorber and dissipated by the damping of the shock absorber. The invention belongs to the technical field of vibration control of soft robots. Background technique [0002] Soft robots have the advantages of light weight, large carrying capacity, and strong motion flexibility, and have been more and more used in the aerospace field. However, the low stiffness and flexibility of this type of robot will inevitably bring about vibration problems. If the vibration is not effectively controlled, its low-frequency and large-scale vibration wil...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
Inventor 边宇枢易思成高志慧
Owner BEIHANG UNIV
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