Vibration reduction method of single-connecting-rod flexible mechanical arm

Abstract

The invention discloses a vibration reduction method of a single-connecting-rod flexible mechanical arm. In a generalized coordinate system, a bending vibration equation is established based on an Euler-Bernoulli beam theory. Parameter discretization is carried out through finite segmentation, and a flexible mechanical arm kinetic model is established. The kinetic model is analyzed to obtain characteristic parameters such as natural vibration frequency of the mechanical arm. The motion of the mechanical arm is set to be accelerated, constant-speed and decelerated three-section motion, the current signal time of a control motor at different motion stages is designed according to the inherent frequency of the mechanical arm, motion trajectory planning and motion parameter configuration are conducted on the flexible mechanical arm, and vibration reduction of transverse motion is achieved. According to the method, on the basis that the instruction shaping vibration suppression method is analyzed, a feedforward method is generated through combining the track, instruction operation is simple and rapid, the structure of the mechanical arm does not need to be changed, the vibration reduction effect is obvious, and the method has good application value in the aspect of vibration reduction of industrial flexible mechanical arm rotating motion.

Description

technical field [0001] The invention belongs to the technical field of mechanical vibration and vibration control of a flexible mechanical arm, and in particular relates to a vibration reduction method for a single-link flexible mechanical arm. Background technique [0002] With the development of robot technology, the extensive development of manipulators meets the requirements of industrial production quality and efficiency, while showing the development trend of high speed and high precision. Compared with the relatively bulky heavy manipulator, the light and flexible flexible manipulator has more excellent characteristics and performance, which increases the flexibility and workspace expansion during the movement process. At the same time, due to the small damping of the mechanical arm, there is elastic deformation of the components during the working process, and the vibration will last for a long time, affecting normal work. It is difficult to achieve precise positioni...

AI Technical Summary

Problems solved by technology

However, in many actual industrial systems, the mathematical model of the controlled object or process is difficult to determine. Even if the mathematical model is obtained under a certain condition, after the working conditions and some factors change, its dynamic parameters will be Model-based structures are also subject to continuous change

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