规划输入命令法消除带滑移／转动副的柔性机械臂的余振  

Eliminating the residual vibration of flexi-ble manipulators with sliding/revolving pairs by the com-manding method of planning input

作　　者：王斌[1] 李哲[1] 

机构地区：[1]北京工业大学

出　　处：《机械设计》1995年第10期7-9,20,共4页Journal of Machine Design

基　　金：国家自然科学基金;北京科技新星计划资金资助

摘　　要：规划输入法降低柔性机械臂的余振是机构学的一个前沿课题，目前的研究对象大都是具有一个运动自由度的柔性臂。本文将这项技术由一个运动自由度推广到两个自由度。提出了一种通过规划输入解决变参数柔性臂端点余振的新方法，对带滑移／转动副的柔性机械臂的输入函数进行了规划，使机械臂到达指定位置后，末端余振振幅在允许的范围内。Abstract To minimize the residual vibration offlexible manipulators by planning input method is one ofthe modern research field in mechanism. But the prcsentresearch objects are mostlv limited to flexiblemanipulators with a freedom degree of one motion. Thisarticle extends this techque from a freedom degree of onemotion to two motions.A new method has been put for-ward for solving the end point residual vibration of va-riable parameter flexible manipulator through a kind ofplanning input.The input function of flexiblemanipulator with sliding/revolving pairs has beenplanned thus assuring the residual vibration amplitudeof end point keeping in the permissible scope whenthe manipulatior arrives at an appointed position.

关 键 词：柔性机械臂 规划输入命令法 余振 机械手 

分 类 号：TH112[机械工程—机械设计及理论] TP241[自动化与计算机技术—检测技术与自动化装置]