多模态输入整形法抑制一种3自由度并联机器人的残余振动

Suppression of Residual Vibration of 3-DOF Parallel Manipulator with Multiple-mode Input Shaping Method

输入整形法能够有效地抑制单模态系统的残余振动,但是当系统的高阶模态对系统振动影响较大时,就要使用多模态的输入整形法。介绍了一种3自由度并联机器人的结构与原理,并通过实验获得了系统共振频率和阻尼比。表达了两模态的ZV、ZVD和EI输入整形器构建原理,构建了这种3自由度机器人的两模态输入整形器。从减振效果和鲁棒性等方面与单模态输入整形器进行了对比。数字仿真结果表明,当考虑了两个模态作用时,两模态输入整形器的减振效果要好于单模态输入整形器。

The input shaping method can effectively suppress the residual vibration of the single - mode system. However, when there is greater vibration caused by the high - order modes of the system, the multiple - mode input shaping method will be used. The structure and theory of a 3 - DOF parallel manipulator are presented. The natural frequencies and damping ratios of the system are obtained from the experiment. The theory of the double - mode ZV, ZVD and EI input shapers is explained and the dou- ble - mode input shapers of the 3 - DOF parallel manipulator created. A comparison is made with the single - mode input shapers in the aspects of effect of vibration suppression and robustness. The results of the numerical simulation indicate that the double - mode input shapers are more effective than single - mode ones in the effect of vibration suppression.