Flexible mechanical arm energy consumption shock absorption method based on 2:1 internal resonance and realization device

Abstract

The invention relates to a flexible mechanical arm energy consumption shock absorption device based on 2:1 internal resonance, and the shock absorption device consists of a shock absorber installation seat, a torsion spring, a connecting turntable, an inertia adjusting ball, a swinging supporting rod and an adjustable damper, wherein the shock absorber installation seat is connected with a flexible mechanical arm through a screw, the adjustable damper is connected with the shock absorber installation seat through a bolt, the connecting turntable is tightened onto a rotating shaft of the adjustable damper, the torsion spring penetrates the rotating shaft of the adjustable damper, two ends of the torsion spring are respectively connected with the adjustable damper and the connecting turntable, the swinging supporting rod is connected with the connecting turntable in a threading way, and the inertia adjusting ball penetrates the swinging supporting rod via a through hole and is fixedly connected with the swinging supporting rod through a tightening screw; and a flexible mechanical arm energy consumption shock absorption method based on the 2:1 internal resonance comprises twelve steps. The flexible mechanical arm energy consumption shock absorption method and the device can be used for the vibration control of an aerospace flexible arm mechanism, a microelectronic manufacturing flexible arm, robot system flexible mechanical hand and the like and have characteristics of obvious shock absorption effect, simplicity in structure and good robustness.

Description

technical field [0001] The present invention relates to an energy consumption and vibration reduction method of a flexible manipulator based on 2:1 internal resonance and a device for realizing it. Vibration energy migrates to a vibration damping device and is dissipated by damping, and belongs to the technical fields of mechanical vibration, precision machinery, robot motion control, and the like. Background technique [0002] In order to meet the performance requirements of light weight, high speed, and high load-to-weight ratio, flexible manipulators are widely used in aerospace, microelectronics manufacturing, precision machinery and other technical fields. However, the elastic vibration generated by the flexible manipulator under the action of the nominal motion seriously affects the spatial positioning accuracy and work efficiency of the manipulator. In order to solve the dual contradictions in space and time caused by the vibration during the working process of the f...

AI Technical Summary

Problems solved by technology

Obviously, this approach is not always appropriate, and its high energy consumption and easy overload even make it more harm than good

More importantly, the output power of general smart materials is often limited, so it is difficult to provide enough energy to overcome this strong vibration, and even face the danger of overload damage

It can be seen that the existing conventional control methods are difficult to deal with the large nonlinear vibration problem of soft robots.

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