预压叠层柔性机械臂振动抑制试验研究

Experimental Research on Restraining Vibration of Pre-pressed Multi-layer Assembled Flexible Arm

为抑制柔性机械臂的低频振动,研究预压叠层柔性机械臂的抑振效果和动态特性,文章介绍了预压叠层组合机械臂不同的叠层夹紧力和叠层厚度的抑振对比试验,对振动的响应采用了动力学数值仿真并用实验对仿真结果进行了验证。试验及分析结果表明:有限元分析方法能比较、准确地反映组合柔性臂的动力学性质;叠层机械臂的层间滞迟阻尼能有效的抑制机械臂的低频振动;增大层间夹紧力可提高柔性机械臂对振动能量的耗散,但过大的夹紧力对小振幅振动的抑制作用减弱;减少组合层之间的刚度差可以提高柔性臂的抑振能力。

In order to restraining low frequency vibration of flexible manipulator, and research the effect of restraining vibration of pre-pressed multi-layer assembled flexible arm and its dynamic property, in this paper the restraining vibration contrast experiments are introduced under different press and different layer thickness, and FEA dynamic simulation is applied to calculate the vibration response of pre-pressed multi-layer as- sembled flexible arm. The result is consistent with experimental results. Experimental results and FEA dynamic simulations indicate that the hysteretic damping between layers can effectively restrain low frequency vibration of flexible arm. Increasing press between layers can enhance the flexible arm ability of consuming the energy of vibration, but excess press is disadvantage to restraining tiny vibration, pre-pressed multi-layer assembled flexible link have a good quality of restraining vibration. Decreasing difference of rigidity between layers can enhance effect of restraining vibration.