基于光学偏振成像技术的机械臂运动结构稳定性检测

Stability detection of manipulator’s moving structure based on optical polarization imaging technology

针对机械臂运动时会产生振动,影响机器运行精准度这一现状,提出一种基于光学偏振成像技术的机械臂运动结构稳定性检测方法。采用成像稳定的分孔径光源偏振成像技术,应用BRDF模型测量机械臂运动结构偏振度,分析机械臂运动情况。结合机械臂运动分析结果,利用拉格朗日法建立机械臂的动力学模型,分析机械臂末端位置增加质量块时的弹性运动结构特征,获取保持机械臂运动稳定性的必要条件。实验结果表明:该方法可有效获取机械臂运动偏振度,分析机械臂运动情况。该方法检测结果显示当驱动关节转动惯量一定时,末端位置附加质量越大,机械臂的运动结构越容易失稳,当机械臂驱动关节转动惯量为1.6 kg·m^2时,维持机械臂运动结构稳定的最大末端质量为0.81 kg。

In view of the fact that the manipulator will vibrate when it moves,which will affect the accuracy of the operation of the machine,this paper proposes a detection method for the stability of the manipulator’s moving structure based on optical polarization imaging technology.In this paper,the polarization imaging technology of imaging stable sub aperture light source is used to measure the degree of polarization of the manipulator’s moving structure by BRDF model and analyze the movement of the manipulator.Combined with the results of the manipulator motion analysis,the dynamic model of the manipulator is established by using the Lagrangian method,and the characteristics of the elastic motion structure when the mass is added at the end of the manipulator are analyzed to obtain the necessary conditions to maintain the stability of the manipulator motion.The experimental results show that this method can effectively obtain the degree of polarization of the manipulator motion and analyze the movement of the manipulator;the test results show that when the moment of inertia of the driving joint is fixed,the larger the additional mass of the end position is,the more likely the manipulator’s movement structure is to lose stability;when the moment of inertia of the manipulator’s driving joint is 1.6 kg·m^2,the maximum end mass to maintain the stability of the manipulator’s movement structure is The quantity is 0.81 kg.