多关节柔性机器人手臂的振动分析和振动控制  

Vibration and Vibration Control of a Flexible Robot Arm with Multiple Joints

作　　者：孙健利[1] 

机构地区：[1]华中理工大学机械工程一系

出　　处：《华中科技大学学报（自然科学版）》1990年第S3期223-228,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

摘　　要：本文应用机电一体化的研究方法,推导了柔性机器人手臂的振动方程式,并结合控制系统,推导了机电系统的动态方程.对在任意位置上有集中质量的变截面桑性手臂进行了振动分析和数值仿真,并进行了实验验证.证明了本文的分析方法的妥当性和位置反馈的抑制技术是相当有效的.The vibration response of a flexible robot arm with multiple joints is analyzed. The vibration is excited by a force applied at its finger tip. The vibration equation for the arm and dynamic equation for the complete system including the control circuit have been derived with the transfer matrix method. A simplified method with position feedback has been developed for the control of the arm movement and design formulae are given. Digital simulation has been carried out with experimental verification of the technique adopted.

关 键 词：机器人 多关节 柔性手臂 振动 振动控制 位置反馈 

分 类 号：N55[自然科学总论]