345 results about "Residual vibration" patented technology

An object of the present invention is to execute an optimum control of vibrations due to a driver's operation of an accelerator pedal, steering wheel and brake pedal. The operation instructions are inputted into a vibration calculating means (kinetic model) comprising a vehicle body model, suspension model and tire model. Conventional kinetic model controlled the suspension in order to suppress the vehicle body vibration. However, in the kinetic model of the present invention, the tire vibration due to a change in the engine output is first absorbed by the suspension, whereby a residual vibration which was not be absorbed yet by the suspension is transferred to the vehicle body. The operation inputs are compensated by the three feed-back loops between the outputs of the above-mentioned three portions and input of the tire portion, giving the highest priority on the vehicle body model.

It is an object of the invention to provide a droplet ejection apparatus and a method of detecting and judging a head failure that can detect an ejection failure and carry out appropriate recovery processing according to a cause thereof. The droplet ejection apparatus of the invention includes a plurality of droplet ejection heads, each of the droplet ejection heads including a diaphragm and an actuator which displaces the diaphragm; a driving circuit which drives the actuator of each droplet ejection head; residual vibration detecting means 16 for detecting a residual vibration of the diaphragm displaced by the actuator after the actuator has been driven by the driving circuit; pulse generating means for generating reference pulses; computation means 17 for carrying out a computation for the number of reference pulses generated by the pulse generating means on the basis of the residual vibration of the diaphragm detected by the residual vibration detecting means; time measuring means for measuring a lapsed time since the actuator has been driven by the driving circuit; and head failure judging means 20 for judging a head failure in the droplet ejection heads on the basis of the computation result of the computation means 17 and the lapsed time measured by the time measuring means.

The invention discloses a method for restraining flexible arm tail end vibration of a robot. The method comprises a robot flexible arm, a control system and a processing system for providing a control command signal to the control system. The method comprises the following processing steps of: computing a point vibration displacement transfer function of the tail end of the flexible arm according to driving torque of the flexible arm; computing an optimal input shaping transfer function with smallest residual vibration according to natural frequency and damp of the flexible arm; performing normalization process on the optimal input shaping transfer function; selecting the lag time of an optimal input shaper according to the movement speed of the flexible arm, thus obtaining the optimal input shaper; performing convolution on an input command signal and the optimal input shaper to obtain a new input command signal, discretizing the new input command signal, and transferring the discretized input instruction signal; and refreshing the instruction signal of the control system with the servo cycle serving as the time interval until the end. The method can be used for effectively restraining the vibration at the tail end of the robot flexible arm, improving the follow accuracy and achieving the quick and accurate positioning on the robot flexible arm.

A liquid viscosity detecting method is performed in a liquid droplet ejecting device that includes a piezoelectric type droplet ejecting head to which a drive waveform is applied to pressurize a liquid chamber to eject a liquid droplet, a drive waveform generator to apply the drive waveform to the droplet ejecting head, and a residual vibration detector. The method includes detecting, by the residual vibration detector, amplitude values of multiple cycles of a residual vibration waveform occurring within the liquid chamber after the drive waveform is applied; calculating an attenuation ratio based on the amplitude values; and calculating a liquid viscosity in the liquid chamber based on the attenuation ratio.

The invention discloses an influence coefficient dynamic balance method on rotating machine with multiple plane, multiple-points and multiple revolving speed shafting. The influence coefficient dynamic balance method on rotating machine with multiple plane, multiple-points and multiple revolving speed shafting comprises the steps that 1, designating a shafting balancing revolving speed point, balancing planes and numbers of measured points; 2, an initial deflection value of a spindle and an initial vibration value are measured under a slow revolving speed of 300rpm; 3, a vibration response of the measured points on a bearing after trial mass is conducted on a plurality of balancing planes on the shafting; 4, the minimum value of the residual vibration amplitude epsilon of all vibration measured points after the rotor is balanced is set as a goal, a vibration response vector equilibrium equation is established, and a size and angel of a balance weight Q on the unit shafting are obtained; 5, the vibration value of all vibration measured points are read, the above steps 2, 3, and 4 can be repeated once the value is unsatisfied. The influence coefficient dynamic balance method on rotating machine with multiple plane, multiple-points and multiple revolving speed shafting has a overall consideration on vibration with multiple plane, multiple-points and multiple revolving speed shafting, and a seesaw phenomenon in the traditional dynamic balance process is effectively avoided.

The invention discloses a method for controlling vibration of a flexible manipulator based on a vibration observer. The method comprises the following steps: 1, establishing a mathematic model of a flexible manipulator system and acquiring model information of the system; 2, designing the vibration observer; 3, designing a state feedback integral controller; 4, adjusting control parameters according to the combined simulation effect; 5, ending the design. When the residual vibration of the tail end of the flexible manipulator is tested and controlled, a vibration signal of the tail end of the flexible manipulator can be obtained without using a sensor in an existing method, the system structure is simplified, and the cost is saved. The state feedback controller with an integral is used at the same time, and unbiased tracked and specified input can be achieved while the dynamic characteristics of the system are effectively adjusted.

The invention relates to a controllable mechanism type two-degrees-of-freedom mobile manipulator. A fourth connecting rod of the manipulator is of a triangular shape; the lower end of a first driving part is connected to a mobile platform and the upper end of the first driving part is connected with one end of a first connecting rod; the other end of the first connecting rod is connected with one end of a second connecting rod; the other end of the second connecting rod is connected with an operation platform; the lower end of a big arm is connected to the mobile platform and the upper end of the big arm is connected with the first end of a fourth connecting rod and simultaneously, the upper end of the big arm is connected to the second connecting rod by a compound hinge; the lower end of the third connecting rod is connected to the mobile platform and the upper end of the third connecting rod is connected with the second end of a fourth connecting rod; one end of a fifth connecting rod is connected with the third end of the fourth connecting rod and the other end of the fifth connecting rod is connected with the operation platform; the lower end of a second driving part is connected to the mobile platform and the upper end of the second driving part is connected with one end of a sixth connecting rod; the other end of the sixth connecting rod is connected to the big arm. According to the invention, the stress condition of the manipulator is improved; the defects of rotational inertia, residual vibration intensity and the like of the manipulator are reduced; moreover, the controllable mechanism type two-degrees-of-freedom mobile manipulator has the advantages of easiness for implementing remote control, reduction of labor intensity of workers and the like.

A droplet ejecting apparatus and an ejection abnormality detecting/determining method are provided that, depending upon a capacitance change of an actuator after a droplet ejecting operation, measures the period of residual vibration on the vibration plate to thereby enable detection of an ejection abnormality and determination of a cause thereof.

The object stage device (4) includes: a support part (8), which is vibrateably and independently arranged relative to the fixed plate (3); and a reaction force stage (17), which is The resulting reaction force is free to move on the support (8) in said one direction. Thereby, since problems such as shaking due to the reaction force can be avoided, the adjustment time can be shortened, productivity can be improved, and transmission of residual vibration of the support portion to the fixed plate can be suppressed.

An ink jet printer includes an ejection unit including a nozzle which ejects a liquid containing a pigment; a cavity which communicates with the nozzle; and a piezoelectric element which is provided in the cavity, and a driving signal generation unit which generates a driving signal allowing the piezoelectric element to be displaced such that the cavity expands or is contracted. The ink jet printer includes a detection unit that detects a cycle of a residual vibration waveform of the piezoelectric element which is generated by the driving signal being applied to the piezoelectric element and indicates a value according to change of the pressure inside of the cavity and a determination unit that determines the pigment is settled based on the cycle of the residual vibration waveform detected by the detection unit.

The invention discloses a laser displacement sensor based parallel platform vibration detection control device and method. The device comprises a parallel platform body unit, a vibration detection unit and a vibration control unit. The parallel platform body unit comprises a movable platform, a static platform and three parallel branches. Each parallel branch comprises a motor, a driving rod and a driven flexible rod which are connected successively. A plurality of piezoelectric ceramic piece drivers are pasted on the driven flexible rods. Three laser detection heads are arranged on the periphery of the static platform to be used for detecting the translation displacement and the rotation angle of the movable platform in the horizontal direction. The motors drive the driving rods and the driven flexible rods to locate the movable platform behind the target position, the movable platform has residual vibration, the laser detection head detects vibration signals of the movable platform, the vibration control unit applies the control quantity to the piezoelectric ceramic piece drivers, and accordingly, driving control over the residual vibration of the parallel platforms is achieved. The device and the method have the advantages of being high in measurement accuracy and sampling frequency and quick in dynamic response.

To provide a liquid storage container which can prevent a failure that air bubbles are sucked into a liquid guide path even when the amount of liquid remaining in the liquid storage chamber is reduced and which can considerably reduce the amount of liquid discarded without being used.

[Solving Means] A liquid storage container 1 includes liquid storage chambers 370 and 430 from which liquid is guided to a liquid-supplying unit 50 through a liquid guide path and a liquid remaining-amount sensor 31 for detecting the presence/absence of the liquid on the basis of variation in residual vibration that occurs when air bubbles enter the liquid guide path. The liquid storage chambers 370 and 430 have concavities 374 and 434 in the bottom walls thereof. Liquid outlets 371 and 432 that communicate with the liquid guide path are formed at the bottom of the concavities 374 and 434, respectively. Therefore, air layers in the liquid storage chambers 370 and 430 are prevented from coming into contact with the liquid outlets 371 and 432, respectively, before the remaining liquid does.

The invention provides a processing-and-manufacturing damping cutting device, and relates to the technical field of machining and manufacturing. The processing-and-manufacturing damping cutting devicecomprises a base, the bottom of the base is fixedly connected with the tops of damping feet, the bottoms of the damping feet are fixedly connected with the tops of bottom plates, the top of the baseis fixedly connected with the bottoms of limiting blocks, an installing plate is arranged at the upper portion of the base, and a motor is arranged at the upper portion of the installing plate. According to the processing-and-manufacturing damping cutting device, as a threaded rod is arranged, clamping and fixing of articles required to be processed are convenient, and clamping is more convenientand faster; as limiting rods are arranged, the installing plate is more stable; as nuts are arranged, top supporting of the installing plate is more stable; as damping springs and damping rings are arranged, vibration generated by cutting is greatly reduced; as the damping feet are arranged, residual vibration is buffered and subjected to energy dissipation, and vibration of the cutting device isbetter weakened.