Delta并联机器人弹性振动控制

Elastic Vibration Control for Delta Parallel Robot

采用有限元理论建立Delta并联机器人弹性动力学模型,将弹性振动引起的位置和方向误差看作是对名义运动的摄动,得出动平台位形误差与结点位移的关系方程,作为评定机构运动精度的依据。在柔性构件上粘附阻尼层,消耗系统振动能量,抑制杆的横向振动,对杆的纵向振动采用压电作动器进行主动控制,兼顾响应与控制能量实现最优控制。实例显示,对机构综合采用以上两种振动抑制措施,可以将机构的振动水平控制在很低的水平。

The elastic dynamic model of Delta parallel robot is established by using of FEM theory, the position and direction caused by elastic vibration are considered as perturbation of movement, relation equation of configuration error and node displacement is obtained and is used to evaluate movement accuracy as an index. Vibration energy of link restrained, meanwhile, it＇s adopted piezoelectric actuators to actively control for longitudinal vibration of link, and in the view of dynamic response and energy control, optimal control is realized. The example has shown that vibration level of mechanism will be held down by applying above two measures in mechanism synthesis.