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Flexible mechanical arm vibration reduction device and method based on magneto-rheological technology

A technology of flexible manipulators and vibration damping devices, which is applied in the direction of manipulators, claw arms, manufacturing tools, etc., can solve the problem of difficult implementation of large-scale vibration control of flexible manipulators. Reduces the effect of large vibrations

Inactive Publication Date: 2013-04-10
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

For example, the marine magnetorheological elastomer intelligent shock absorber disclosed in the patent application number CN200910071707.0 and the magnetorheological elastomer frequency-shifting vibration absorber and control method disclosed in the patent application number CN200510094882.3 have great advantages in controlling the vibration of flexible structures. The effect is relatively good, but it will be difficult to implement the large-scale vibration control of the rigid-flexible coupling flexible manipulator under the nominal motion

Method used

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  • Flexible mechanical arm vibration reduction device and method based on magneto-rheological technology
  • Flexible mechanical arm vibration reduction device and method based on magneto-rheological technology
  • Flexible mechanical arm vibration reduction device and method based on magneto-rheological technology

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Embodiment 1

[0037] Such as figure 1 As shown, a flexible manipulator damping device based on magnetorheological technology in the present invention includes a rigid-flexible coupling manipulator, a magnetorheological elastomer damping device installed on the flexible manipulator and a feedback control loop, wherein:

[0038] Rigid-flexible coupled manipulator consists of rigid manipulator 1, motor mounting plate 2, flange plate 3, flexible manipulator mounting base 4, flexible manipulator mounting plate 5, flexible manipulator 7, harmonic reducer 19 and servo motor 20 ;M8 threaded holes are processed on the end surface of the rigid mechanical arm 1, and M8 countersunk holes are processed on the side of the motor mounting plate 2, and the rigid mechanical arm 1 and the motor mounting plate 2 are fixedly connected by M8×16 hexagon socket screws; Harmonic reducer 19 and servo motor 20 are installed on the motor mounting plate 2 through flanges using M5×40 hexagon socket head bolts and M5 nut...

Embodiment 2

[0052] Such as Figure 4 As shown, in the rigid-flexible coupling manipulator, the motor mounting plate 2 can also be designed as a plane "convex" shape, the rigid manipulator 1 is made of rectangular steel, the large end of the plane of the motor mounting plate 2 is used to install the motor, and the small end of the plane is through the M8 The ×70 bolts and M8 nuts are connected to the rigid mechanical arm 1. The other end of the rigid mechanical arm 1 is mounted on the flange through M8×65 screws, and the flange is connected to the servo motor and harmonic reducer fixed on the base through M8×16 screws, thus forming a A 2R robotic arm system. The two servo motors 26 are respectively driven by two supporting drivers 27, and the drivers 27 are controlled by the PC upper computer 24 through the PMAC lower computer 28. Affected by the nominal motion of the manipulator, the natural frequency of the flexible manipulator 7 will change as the motion state of the rigid manipulator...

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Abstract

The invention relates to a flexible mechanical arm vibration reduction device and method based on a magneto-rheological technology, which belongs to the technical field of flexible mechanical arm vibration control. The vibration reduction device comprises a rigid-flexible coupled mechanical arm, a magneto-rheological elastomer vibration reduction device and a feedback control loop, wherein the rigid-flexible coupled mechanical arm comprises a rigid mechanical arm, a motor mounting plate, a servo motor, a harmonic reducer, a flexible mechanical arm mounting base and a flexible mechanical arm; the magneto-rheological elastomer vibration reduction device comprises an iron core, a guide rod, a fixed seat, a magneto-rheological elastomer, a permanent magnet and an electromagnetic coil; and the feedback control loop comprises two acceleration sensors, a charge-amplifier, a data acquisition system, a PC (Personal Computer) upper computer and a programmable power supply. The PC upper computer is used for regulating the supply voltage of two ends of the electromagnetic coil through the analyzing and processing the feedback signals of the two acceleration sensors so as to change the rigidness of the magneto-rheological elastomer, thereby meeting the resonance requirement in a system. The flexible mechanical arm vibration reduction device has the characteristics of obvious vibration reduction effect and less energy consumption and is suitable for large amplitude vibration reduction.

Description

technical field [0001] The invention relates to a vibration damping device and method for a flexible manipulator based on magnetorheological technology. It constructs a controllable frequency vibration damping device based on magnetorheological technology from a nonlinear point of view, so that the flexible manipulator and the vibration damping device The channel for energy exchange is formed between them, and the vibration energy of the flexible manipulator is transferred to the vibration damping device and dissipated by damping, which belongs to the technical fields of mechanical vibration, motion control of the flexible manipulator, and the like. Background technique [0002] Flexible manipulators have the advantages of light weight, large carrying capacity, and strong movement flexibility, and have been used more and more in aerospace, microelectronics manufacturing, precision machinery and other fields. However, the low stiffness and flexibility of this type of manipula...

Claims

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Application Information

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IPC IPC(8): B25J19/00B25J13/08B25J18/06
Inventor 高志慧邓玉春边宇枢
Owner BEIHANG UNIV
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