Although flexible manipulators own many potential advantages, one of their major disadvantages is the deterioration of the end-effector accuracy due to the flexibility. Therefore, how to reduce vibration is a signific...Although flexible manipulators own many potential advantages, one of their major disadvantages is the deterioration of the end-effector accuracy due to the flexibility. Therefore, how to reduce vibration is a significant problem. Inspired by the observation on the motion behaviors of animals, a new idea of decreasing motion deflection of the flexible manipulator is suggested. The concept of controllable local degrees of freedom is proposed and analyzed. By way of optimizing local motion provided by the controllable local degrees of freedom, the end-effector deflection of the flexible manipulator can be effectively decreased through dynamic coupling. The corresponding optimal method for vibration control of the flexible manipulator is put forward. The kinematic simulation is carried ant on a three-link flexible manipulator The corresponding results verify the feasibility of this method.展开更多
When performing operation tasks,the interaction between a flexible manipulator and a grasped object usually results in an impact.In this paper,a new way is suggested to alleviate impact vibration of a flexible manipul...When performing operation tasks,the interaction between a flexible manipulator and a grasped object usually results in an impact.In this paper,a new way is suggested to alleviate impact vibration of a flexible manipulator via its structural characteristic when capturing a moving object.Controllable local degrees of freedom are introduced to the topological structure of the flexible manipulator,and used as an effective tool to combat impact vibration through dynamic coupling.A corresponding method is put forward to reduce impact vibration responses of the flexible manipulator via the controllable local degrees of freedom.By planning motion of the controllable local degrees of freedom,appropriate control force can be constructed to increase the modal damping and stiffness and eliminate the exciting force simultaneously,thereby reducing impact vibration responses of the flexible manipulator.Simulations are conducted and results are shown to prove the presented method.展开更多
Parameter optimization of the controllable local degree of freedom is studied for reducing vibration of the flexible manipulator at the lowest possible cost. The controllable local degrees of freedom are suggested and...Parameter optimization of the controllable local degree of freedom is studied for reducing vibration of the flexible manipulator at the lowest possible cost. The controllable local degrees of freedom are suggested and introduced to the topological structure of the flexible manipulator, and used as an effective way to alleviate vibration through dynamic coupling. Parameters introduced by the controllable local degrees of freedom are analyzed and their influences on vibration reduction are investigated. A strategy to optimize these parameters is put forward and the corresponding optimization method is suggested based on Particle Swarm Optimization (PSO). Simulations are conducted and results of case studies confirm that the proposed optimization method is effective in reducing vibration of the flexible manipulator at the lowest possible cost.展开更多
基金Important Project of Science and Technology Research of Ministry of Education of China (No. 307005)National Hi-tech Research and Development Program of China (863 Program, No.SQ2007AA04Z231266).
文摘Although flexible manipulators own many potential advantages, one of their major disadvantages is the deterioration of the end-effector accuracy due to the flexibility. Therefore, how to reduce vibration is a significant problem. Inspired by the observation on the motion behaviors of animals, a new idea of decreasing motion deflection of the flexible manipulator is suggested. The concept of controllable local degrees of freedom is proposed and analyzed. By way of optimizing local motion provided by the controllable local degrees of freedom, the end-effector deflection of the flexible manipulator can be effectively decreased through dynamic coupling. The corresponding optimal method for vibration control of the flexible manipulator is put forward. The kinematic simulation is carried ant on a three-link flexible manipulator The corresponding results verify the feasibility of this method.
基金National Natural Science Foundation of China （51075013） Beijing Natural Science Foundation （4102035）+1 种基金 Fundamental Research Funds for the Central Universities （YWF-10-01-A09） Research Foundation of State Key Laboratory for Manufacturing Systems Engineering （Xi＇an Jiaotong University）
基金co-supported by the National Natural Science Foundation of China (Nos.51105015 and 51075013)Beijing Natural Science Foundation (No.4102035)National Key Technology R&D Program of China (No.2011BAF04B00)
文摘When performing operation tasks,the interaction between a flexible manipulator and a grasped object usually results in an impact.In this paper,a new way is suggested to alleviate impact vibration of a flexible manipulator via its structural characteristic when capturing a moving object.Controllable local degrees of freedom are introduced to the topological structure of the flexible manipulator,and used as an effective tool to combat impact vibration through dynamic coupling.A corresponding method is put forward to reduce impact vibration responses of the flexible manipulator via the controllable local degrees of freedom.By planning motion of the controllable local degrees of freedom,appropriate control force can be constructed to increase the modal damping and stiffness and eliminate the exciting force simultaneously,thereby reducing impact vibration responses of the flexible manipulator.Simulations are conducted and results are shown to prove the presented method.
基金the National Natural Science Foundation of China (Nos. 51105015,51075013)Beijing Natural Science Foundation (No.4102035)+2 种基金The Fundamental Research Funds for the Central Universities (Nos. YWF-10-01-A09, YWF-11-03-Q-275)State Key Laboratory of Robotics and System (HIT)National Key Technology R&D Program (No. 2011BAF04B00)
文摘Parameter optimization of the controllable local degree of freedom is studied for reducing vibration of the flexible manipulator at the lowest possible cost. The controllable local degrees of freedom are suggested and introduced to the topological structure of the flexible manipulator, and used as an effective way to alleviate vibration through dynamic coupling. Parameters introduced by the controllable local degrees of freedom are analyzed and their influences on vibration reduction are investigated. A strategy to optimize these parameters is put forward and the corresponding optimization method is suggested based on Particle Swarm Optimization (PSO). Simulations are conducted and results of case studies confirm that the proposed optimization method is effective in reducing vibration of the flexible manipulator at the lowest possible cost.
