弹性并联机器人消减残余振动的研究

On The Elimination of Residual Vibration of Elastic Parallel Manipulators

弹性机器人运动停止后会产生残余振动，这将影响其输出构件的定位精度，本文提出了两种方法，即冗余驱动法和输入运动规划法来消减弹性并联机器人平台的残余振动，虽然这两种方法有着本质上的差别，但都能迅速消减弹性并联机器人平台的残余振动。

The residual vibration, which appeared when the motion of elastic manipulators has been stopped, could affect the endpoint accuracy of the manipulators. This paper put forward two methods, i.e., redundantly actuating and input motion programming, to eliminate the plates' residual vibration of elastic parallel manipulators. Though fundamentally different, the two methods can rapidly eliminate the residual vibration of the plates. So, both of them are effective.