基于负脉冲输入整形法抑制一种3自由度并联机器人的振动  

Vibration Suppression Based on Negative Impulse Input Shaping for a 3-DOF Parallel Manipulator

作　　者：李兵[1] 谢里阳[1] 魏玉兰[1] 武滢[1] 

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110004

出　　处：《东北大学学报（自然科学版）》2010年第10期1479-1482,共4页Journal of Northeastern University(Natural Science)

基　　金：国家高技术研究发展计划项目(2007AA04Z428)

摘　　要：为了获得快速、准确的系统运动响应,设计了负脉冲输入整形器.介绍了一个3自由度并联机器人系统,以及系统模型和动态方程.给出了含有负脉冲的ZV,ZVD,EI输入整形器的构造方法,并应用到这个3自由度机器人系统.从减少系统响应的时间延迟、鲁棒性等方面对负脉冲整形器进行研究,并与正脉冲输入整形器进行了对比.数字仿真的结果证明负脉冲输入整形器能够在抑制残余振动的同时减少系统响应的时间延迟.The negative impulse input shaper was designed to implement the accurate and rapid responses to the system motion.A 3-DOF parallel manipulator system was thus introduced,as well as the system model and its dynamic equations.With the architectures of the ZV,ZVD and EI input shapers involving negative impulses given and applied to the 3-DOF manipulator system,the negative impulse input shaper was investigated in view of decreasing the time delay of the system response and its robustness and in comparison with the positive impulse input shapers.The simulation results showed that the negative impulse input shaper can suppress the residual vibration and,at the same time,decrease the time delay of the system response.

关 键 词：减振 负脉冲 并联机器人 时间延迟 残余振动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] O328[自动化与计算机技术—控制科学与工程]