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Testing device and method for residual oscillation restraining of flexible joint-flexible arm system

A technology of flexible joints and residual vibration, which is applied in the direction of manufacturing tools and manipulators, can solve the problems of mismatched modal parameters, inability to display modes intuitively, unsatisfactory vibration suppression effect, etc., to achieve residual vibration suppression and fast and accurate positioning , Improve the effect of following precision

Pending Publication Date: 2018-03-06
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

However, these methods cannot intuitively display the modes that play a major role in actual situations, and are based on simplified and idealized dynamic models, which makes the obtained modal parameters do not match those of the actual system, resulting in Often the vibration suppression effect is not ideal

Method used

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  • Testing device and method for residual oscillation restraining of flexible joint-flexible arm system
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  • Testing device and method for residual oscillation restraining of flexible joint-flexible arm system

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Embodiment

[0069] Taking the mechanical arm of an industrial robot as the vibration control object, the residual vibration is suppressed according to the following steps:

[0070] Such as figure 1 As shown, the test device for residual vibration suppression of the flexible joint-flexible arm system of this embodiment includes: a data processing module 14, a drive module, a mechanical system module, and a signal acquisition module;

[0071] Described data processing module 14 adopts Huayan IPC-510 embedded industrial computer, comprises real-time control unit and human-computer interaction unit; The real-time control unit of data processing module and human-computer interaction unit are all developed on Microsoft Visual Studio2010 platform, real-time control The unit has a built-in displacement trajectory of the flexible arm: S-shaped curve, the real-time control unit is connected to the servo driver through EtherCAT, and the displacement trajectory is sent to the servo driver 13 at an in...

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Abstract

The invention discloses a testing device for residual oscillation restraining of a flexible joint-flexible arm system. The testing device for the residual oscillation restraining of the flexible joint-flexible arm system comprises a data processing module, a drive module, a mechanical system module and a signal acquiring module. The data processing module adopts an industrial personal computer andcomprises a man-machine interaction unit and a real-time control unit. The drive module comprises an alternating current servo driver and an alternating current servo motor. The mechanical system module comprises a supporting base, a system pedestal, a flexible joint and a flexible arm. The signal acquiring module comprises a three-dimensional acceleration sensor, a switching power source and a data acquisition unit, and the three-dimensional acceleration sensor is arranged at the tail end of the flexible arm. The invention further provides a method for residual oscillation restraining of theflexible joint-flexible arm system. By means of the testing device and method, the main oscillation modal parameters of the flexible joint-flexible arm system can be rapidly acquired, the problem that system model parameters are not matched, and consequently an input reshaper is not reasonable in design is solved, the residual oscillation of the mechanical system is effectively restrained, and rapid and accurate positioning of a mechanism arm is achieved.

Description

technical field [0001] The invention relates to the field of vibration control of industrial robots, in particular to a test device and method for suppressing residual vibration of a flexible joint-flexible arm system. Background technique [0002] Industrial robots are widely used in the field of production and manufacturing. With the improvement of production requirements, it is particularly important to realize the high-speed and high-precision movement of robots. However, the high-speed movement will cause the mechanical arm to generate large residual vibration. In actual production, it is usually necessary to wait until the residual vibration disappears or decays to the allowable range before performing the process that requires high position accuracy, which is difficult to meet the production requirements. Input shaping is to convolve the initial command with a specific pulse sequence, and the generated shaping command is used as the input signal to control the motion ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
Inventor 李琳胡锡钦邹焱飚
Owner SOUTH CHINA UNIV OF TECH
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