基于结构特征的柔性机器人动态性能优化研究

Dynamic performance optimization for flexible manipulators based on their structure features

以改善柔性机器人的动态性能为目的,提出了对机器人的拓扑结构进行改进以优化其动态性能的想法。利用支杆引入一种局部运动,通过动力学耦合的方式改善机器人的动态性能。利用模态理论,将机器人的振动控制转换到模态空间中。通过规划支杆的局部运动构造合适的模态控制力,起到消减激振力、获得期望阻尼特性的作用,以此对柔性机器人的低阶振动进行控制。最后,通过仿真算例验证了这种方法的有效性。

In order to enhance dynamic performance of the flexible manipulator, an idea is suggested for optimizing dynamic performance by the way of improving the topological structure of the flexible manipulator. A type of local motion is introduced to the flexible manipulator by the branch links, which can be used to enhance dynamic performance of the flexible manipulator via dynamic coupling. Using the modal theory, vibration control for the flexible manipulator is transformed into the modal space. By planning local motion of the branch links, the appropriate modal control force can be constructed to decrease the exciting force and obtain the desired damping property, thereby suppressing lower level vibration of the flexible manipulator. Finally, some numerical simulations are carried out, and the corresponding results verify the feasibility of the method.