基于压电陶瓷的柔性机械臂主动振动控制实验研究

Experimental Study of Active Vibration Control of Flexible Manipulator Based on Piezoelectric Ceramic Elements

柔性机构因其工作效率高,能量消耗低和结构简单等优点被广泛应用于机器人领域。但柔性机构由于刚度较低,易产生弹性振动,使机器人的定位精度和运动精度降低。为了验证在前期的工作中提出的柔性机械臂主动振动最优控制位置分析的正确性,搭建了一个基于Labview的测试系统。在柔性臂上不同位置粘贴压电片来实现对柔性臂不同位置的主动振动控制,通过测试系统得到最优控制位置处和最优控制位置附近的柔性机械臂振动的传感电压,根据控制前后传感电压的变化分析柔性臂抑制的强弱。根据实验结果显示,柔性臂在前三阶振动下,分别在其最优控制位置上获得最高的抑振率,从而验证了最优控制位置的有效性。

Due to high efficiency, low energy consumption and simple structure, flexible beams are widely used in robotics. Elastic vibration of flexible beams in robotics is easy to produce during operation, which owing to the nature low stiffness of the flexible structures. Elastic vibration of robotics will lead to poor positioning accuracy or low motion precision. The optimal control position of active vibration control of flexible manipulator was obtained by numerical simulation in the previous work. In order to verify the correctness of the optimal control position analysis of active vibration of flexible manipulator proposed in the previous work, a test system based on Labview is set up. The vibration control of the flexible manipulator at different positions is acquired by attaching the PZT patchs at different positions on the flexible arm. The sensor voltage of the flexible manipulator near the optimal control position and the optimal control position is obtained by the test system. The strength of the flexible arm suppression is analyzed by the sensors voltage before and after the control. According to the experimental resuks, the flexible arm achieves the highest vibration suppression rate at its optimal control position under the first three orders of vibration, and the effectiveness of optimal control position is verified.