机器人柔性负载残余振动抑制及测量方式研究

Research on Residual Vibration Suppression and Measurement Method of Flexible Load of Robot

针对六自由度工业机器人挂载柔性负载时由于运动状态的突变及其内部零件的柔性引起的负载振动问题,设计了一种立足于输入整形的振动抑制方法。为了有效地抑制柔性负载的残余振动,对机器人柔性负载进行数学建模,设计了一种零振动一阶微分输入整形器(ZVD),并针对现有的实验平台设计了一种立足于激光跟踪仪的振幅检测装置。实验结果表明:在机器人末端移动速度分别为45mm/s、55mm/s、75mm/s、85mm/s(随机取值)的情况下柔性负载残余振动抑制幅度均可达到90%以上,移动速度在85mm/s时,抑振程度最大,达到97.9%,说明该方法对柔性负载残余振动抑制效果十分明显。

Aiming at the problem of load vibration caused by the sudden change of motion state and the flexibility of internal parts when the six-degree-of-freedom industrial robot was mounted with flexible load,a vibration suppression method based on input shaping was designed. In order to effectively suppress the residual vibration of the flexible load,the mathematically model of the flexible load of the robot is presented,a zero-vibration first-order differential input shaper(ZVD)is designed,and a lasertracking-based amplitude detecting device of the instrument for the existing experimental platform is designed. The experimental results show that the residual vibration suppression amplitude of flexible load can reach more than 90% when the moving speeds of the robot end is 45mm/s,55mm/s,75mm/s,85mm/s,and the vibration suppression degree is the highest,97.9%,when the moving speed is 85mm/s.,indicating that the method has obvious effect on suppressing residual vibration of flexible load.