Vibration Reduction of Open-chain Flexible Manipulators by Optimizing Independent Motions of Branch Links  

优化支杆的独立运动消减开链式柔性机器人的振动(英文)

作　　者：边宇枢[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院

出　　处：《Chinese Journal of Aeronautics》2008年第1期79-85,共7页中国航空学报（英文版）

基　　金：Ministry of Education Important Research Project of Scienceand Technology of China(307005);National Hi-Tech Research and Development Program of China(SQ2007AA04Z231266)

摘　　要：In order to suppress vibration in flexible manipulators, a new type of manipulator mechanism with controllable local degrees of freedom is proposed. This mechanism consists of a main chain and some branch links. The main chain is of a flexible open-chain configuration with an end-effector installed at its tip, and the rigid branch links are able to perform active movements. It is proved by kinematics and dynamic analysis that, the branch links bear no direct kinematic relation to the main chain, but their independent motions can strongly affect the dynamic behavior and performance of the flexible manipulator. Then comes a new idea of suppressing vibration, in which independent motions of the branch links are used to suppress the undesired vibration of the flexible main chain through dynamic coupling. On this basis, an optimal method for reducing vibration of flexible manipulators is proposed. Finally, the effectiveness of this method is verified by numerical simulations.In order to suppress vibration in flexible manipulators, a new type of manipulator mechanism with controllable local degrees of freedom is proposed. This mechanism consists of a main chain and some branch links. The main chain is of a flexible open-chain configuration with an end-effector installed at its tip, and the rigid branch links are able to perform active movements. It is proved by kinematics and dynamic analysis that, the branch links bear no direct kinematic relation to the main chain, but their independent motions can strongly affect the dynamic behavior and performance of the flexible manipulator. Then comes a new idea of suppressing vibration, in which independent motions of the branch links are used to suppress the undesired vibration of the flexible main chain through dynamic coupling. On this basis, an optimal method for reducing vibration of flexible manipulators is proposed. Finally, the effectiveness of this method is verified by numerical simulations.

关 键 词：flexible manipulator vibration local degree of freedom branch link 

分 类 号：TB533[理学—物理] TP242[理学—声学]