Method and device for suppressing flutter of double-machine vibration robot

By setting up a dual servo motor and a vibration exciter on the robot joint, and using acceleration sensors to detect and suppress flutter, the shortcomings of complex dynamic models and high computing power controllers in the prior art are solved, and a high-efficiency and low-burden flutter suppression effect is achieved.

CN119610108APending Publication Date: 2025-03-14HUAZHONG UNIV OF SCI & TECH +1
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Patent Information

Application Number
CN202411865869.2
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-12-18
Publication Date
2025-03-14

AI Technical Summary

Technical Problem

In the prior art, robot flutter suppression methods rely on complex dynamic models and high computing power controllers, resulting in burden on joint mechanical structures and difficulty in meeting robustness and real-time requirements.

Method used

Using the dual-machine vibration method, two servo motors and one vibrator are set on each joint of the robot. The vibration signal is detected by an acceleration sensor. The controller calculates the rotation speed and direction of the servo motor based on the detection data, so that the vibrator generates a combined force to suppress joint flutter.

Benefits of technology

Effectively suppress robot flutter, reduce the burden on joint mechanical structure, reduce the computing power requirements of the controller, improve robustness and real-timeness, simplify controller design and save costs.

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Abstract

The invention provides a robot flutter suppression method and device capable of achieving double-machine vibration, and belongs to the field of robot vibration suppression. The robot flutter suppression method comprises the steps that two servo motors are arranged on each joint of a robot, the servo motors are arranged in the extension directions of the joints, vibration exciters are arranged at the ends, away from rotating shafts of the joints, of the servo motors, and the servo motors are connected with a controller; an acceleration sensor connected with the controller is arranged on each joint of the robot; the controller calculates the rotating speed of the servo motor on the corresponding joint according to the voltage signals collected by the acceleration sensors; and the controller controls the two servo motors to act according to the rotating speeds of the two servo motors, so that the two servo motors respectively drive the vibration exciters of the servo motors to generate resultant force to act on inertia force on the corresponding joints so as to restrain flutter of the joints, and the process is continuously repeated. According to the method, flutter can be effectively suppressed, no burden is caused to a mechanical structure at the joint, and a controller with higher computing power is not needed.
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Citation Information

Patent Citations

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  • Robot vibration suppression device, control method and robot thereof

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  • Predictive control method for torque rate control and vibration suppression

    CN117754559A

  • Vibration suppression control device and method for cable parallel robot

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