Spring coupling rotation multi-body mechanical arm system vibration testing device and method thereof

Abstract

The invention discloses a spring coupling rotation multi-body mechanical arm system vibration testing device and a method thereof. The spring coupling rotation multi-body mechanical arm system vibration testing device comprises a drive control part, a detection part and a flexible piezoelectric beam body part, wherein the flexible piezoelectric beam body part comprises a flexible beam, a rotary platform plate, a spring, a fixed support and a side vertical plate, the detection part comprises a line laser and a position sensitive detector, and the driving control part comprises a piezoelectric fiber sheet, a servo motor, a servo motor driver, a piezoelectric fiber sheet controller, a terminal plate, a motion control card and a computer. According to the device, a PSD is used for collecting displacement information of the free end of the flexible beam, the computer is combined with sensor information, a control signal is output through a specific algorithm, and vibration of the flexible beam is controlled. The device is convenient to assemble, can adjust the rigidity and rotating speed of the spring, and is used for measuring the vibration characteristics of the coupling flexible beamin a rotating state.

Description

technical field [0001] The invention relates to the field of vibration control of track flexible multi-body systems, in particular to a vibration testing device and method for a spring-coupled rotating multi-body manipulator system. Background technique [0002] Adaptive elastomechanical structures, also known as smart structures, are typically characterized by spatially extendable carrier structures with embedded actuators and sensors for transient shape control. This capability offers opportunities for applications in many fields, such as: adaptive optics, spoilers in automotive engineering and adaptive solar sails in aeronautical engineering. Such structures often contain partially elongated flexible arm structures. Such structures are easily excited to produce continuous vibration, which affects the normal work of the spacecraft. Specifically in the field of robotic arms, compared with traditional rigid robotic arms, flexible robotic arms have the advantages of light w...

AI Technical Summary

Problems solved by technology

However, due to the inherent low stiffness of the flexible arm structure, it will generate large-scale vibrations for a long time during the movement or due to external disturbances.

If this vibration is not effectively suppressed, it will affect the positioning accuracy and control performance of the flexible arm, and even cause fatigue damage to the flexible arm structure in severe cases.

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