Mechanical arm vibration abatement device and method

Abstract

The invention relates to a mechanical arm vibration abatement device and method. By forward and backward rotation of a motor in the middle of a mechanical arm, a screw can be driven to way in two directions. The movement of the screw pushes and tensions the steel cable on one side of the mechanical arm to offset the opposite torque generated by tail end load accelerated movement. The projection, vertical to the steel cable mounting face, of the load inertia can be determined according to the tail end load mass and acceleration, and accordingly the movement direction and required extension length of the screw can be determined by the given screw required extension length formula.

Description

technical field [0001] The invention relates to a vibration suppressing device of a mechanical arm and a suppressing method thereof. Background technique [0002] With the continuous development of manned spaceflight technology, the application of manipulators in space is becoming more and more extensive. On the spacecraft, the robotic arm can be used to capture satellites, perform tasks such as maintenance, replacement of parts, and adjustment of the position and orientation of solar panels on the satellites. On the space station, the robotic arm can carry the supplies and equipment transported by the spacecraft, and complete the expansion, maintenance and repair of the space station. Compared with the industrial manipulator on the ground, the space manipulator arm is very long and has a large working space. In order to reduce the weight of the launch and reduce the power and electricity consumption of the joint motor, the space manipulator adopts a light and slender struc...

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Problems solved by technology

[0003] Many researchers and engineers have proposed and studied the use of piezoelectric materials as sensors and actuators for the vibration suppression of manipulators. However, since the space manipulator arm is too long, it is not only expensive to paste piezoelectric materials on the surface. The price also increases the weight and volume of the mechanical arm. In addition, a fatal weakness of this scheme is that the maximum deviation of the mechanical arm due to vibration still appears at the end, and the positioning accuracy of the mechanical arm is the positioning accuracy of the end. , the ideal result of vibration suppression is to reduce the deviation at the end as much as possible, and at the same time, the maximum deviation appears in the rest

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