Vibration control system and method of multi-motion-mode variable rigidity constraint mechanical arm

Abstract

The invention discloses a vibration control system of a multi-motion-mode variable rigidity constraint mechanical arm. The mechanical arm is fixed on a driving system through a mounting base; a dynamic testing device for acquiring vibration signals in a motion state of the mechanical arm is arranged beside the mechanical arm, and transmits the acquired vibration signals to a constraint rigidity identifying system; and the constraint rigidity identifying system is provided with a result output module for outputting parameters to a display unit for displaying. The boundary constraint rigidity identification and the vibration observation feedback control can be combined to realize constraint rigidity identification and vibration control of the mechanical arm under multi-motion-mode variable constraint rigidity, so that the system control precision and the adaptability to the environmental factor change are effectively improved, meanwhile, the control system is simplified, and the operation difficulty is reduced.

Description

technical field [0001] The invention relates to the field of robots, in particular to a vibration control system and method for a multi-motion mode variable stiffness constrained mechanical arm. Background technique [0002] The mechanical arm is an important part of the robot. It completes specific operation tasks through the operating mechanism and its end effector. It is widely used in machining, precision assembly, loading and unloading, spraying and other operations. However, the mechanical arm is stimulated by the outside during the process of operation, start-stop, and motion conversion to generate elastic vibration, and the vibration is more obvious when operating at high speed. Elastic vibration seriously affects the operating performance and control accuracy of the manipulator, and reduces the structural life. Therefore, it is necessary to effectively control the vibration of the manipulator. The mechanical arm is connected to the robot body through the joint, whi...

AI Technical Summary

Problems solved by technology

[0004] It is not difficult to see that vibration control based on piezoelectric drive is mainly suitable for flexible structures on the one hand, and it is difficult to effectively suppress vibration through piezoelectric drive for manipulators with high structural stiffness. On the other hand, due to the use of acceleration sensors and piezoelectric drivers The problem of load effect and structural coupling will be introduced, which will affect the effect of vibration control. The control system is more complicated, and the use of various sensors also increases the system cost, and there are also problems with the pasting position, specific layout form and process of the piezoelectric actuator during operation. higher requirements

[0005] In addition, the traditional vibration control system and method of the manipulator is mainly aimed at a specific movement of the manipulator, and ignores the influence of the boundary constraints of the manipulator, and does not consider the inaccurate control of the installation preload or the Factors such as the reduction of pre-tightening force and the change of boundary constraint stiffness caused by loose bolts will undoubtedly reduce the control accuracy of the system and the adaptability to changes in environmental factors

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