Vibration suppression actuator of cantilever beam type robot tail end actuating mechanism

Abstract

The invention discloses a vibration suppression actuator of a cantilever beam type robot tail end actuating mechanism, belongs to the technical field of vibration suppression, and aims to solve the problem that the positioning accuracy is influenced by bending vibration generated when a robot tail end actuating mechanism simplified into a cantilever beam structure is subjected to external excitation and actuates actions. The two ends of a piezoelectric stack of a driving element of the actuator are connected with wedge blocks, under driving of a control system, the piezoelectric stack outputs force and converts axial force into bending moment for the tail end actuating mechanism through a support, and vibration suppression of the tail end actuating mechanism is achieved; and through the high response characteristic of a piezoelectric material, the hysteresis nonlinearity problem of low-frequency vibration of a cantilever beam is solved. The vibration suppression actuator of the cantilever beam type robot tail end actuating mechanism is novel in structure and flexible in design, a wedge block and support combined structure is provided, d33 mode piezoelectric stacks with higher piezoelectric coefficients are applied to cantilever beam vibration suppression for the first time, and bending vibration of the cantilever beam can be effectively suppressed.

Description

[0001] Technical field [0002] The invention relates to a cantilever beam vibration suppression actuator, in particular to a vibration suppression actuator of a cantilever beam type robot end actuator, belonging to the vibration suppression technical field. Background technique [0003] In recent years, from advanced manufacturing to robot automation, mechanical structures and industrial products have become more and more high-speed, intelligent, and flexible to meet the market demand of high efficiency, comfort, energy saving and environmental protection. Therefore, for equipment with complex working movements or equipment with certain requirements for precision and stability, vibration control is a key issue that needs to be considered when performing operations. The cantilever beam structure-based robot end effector will generate forced vibration due to changes in its motion state, and redundant vibration due to its structural flexibility, whether it is in the process of m...

AI Technical Summary

Problems solved by technology

[0005] The present invention proposes a vibration-suppressing actuator for a cantilever-beam type robot end-effector, aiming at not destroying the structure of the end-effector, using a piezoelectric stack as an actuator to solve the problem that the end-effector is externally excited and executed Bending vibration occurs during movement and affects positioning accuracy

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