规划输入命令法消除带滑移／转动副的柔性机械臂的余振

Eliminating the residual vibration of flexi-ble manipulators with sliding/revolving pairs by the com-manding method of planning input

规划输入法降低柔性机械臂的余振是机构学的一个前沿课题，目前的研究对象大都是具有一个运动自由度的柔性臂。本文将这项技术由一个运动自由度推广到两个自由度。提出了一种通过规划输入解决变参数柔性臂端点余振的新方法，对带滑移／转动副的柔性机械臂的输入函数进行了规划，使机械臂到达指定位置后，末端余振振幅在允许的范围内。

Abstract To minimize the residual vibration offlexible manipulators by planning input method is one ofthe modern research field in mechanism. But the prcsentresearch objects are mostlv limited to flexiblemanipulators with a freedom degree of one motion. Thisarticle extends this techque from a freedom degree of onemotion to two motions.A new method has been put for-ward for solving the end point residual vibration of va-riable parameter flexible manipulator through a kind ofplanning input.The input function of flexiblemanipulator with sliding/revolving pairs has beenplanned thus assuring the residual vibration amplitudeof end point keeping in the permissible scope whenthe manipulatior arrives at an appointed position.