柔性机械臂弹性振动的主动变参数控制研究

Study of the Elastic Vibration Control Method of Actively Changing Parameter of Flexible Manipulator Arm

提出了柔性机械臂的主动变参数控制方法,包括主动变刚度控制和主动变阻尼控制。研究了基于增加轴向拉力的主动变刚度控制和旨在增加弹性模态结构阻尼的主动变阻尼控制这两种主动变参数控制方法,设计了相应的机械结构和驱动控制方法。仿真计算结果表明了该控制方法的有效性。

The elastic vibration control method of actively changing parameters of flexible manipulator arm which includes actively changing rigidity and damping is put forward. These two control methods which are the control method of actively changing rigidity through increasing axial tensile force and the control method of actively changing damping by increasing structural damping are studied, and the corresponding mechanical structure and drive control method are designed. Simulation calculation indicates the effectiveness of the control methods.