基于PSD的柔性机械臂末端振动特性测试与分析  

Experimental Vibration Test and Analysis for Flexible Manipulator End Based on Position Sensitive Detector

作　　者：张玉玲[1] 谷勇霞[1] 赵杰亮[2] 吴嘉宁[2] 

机构地区：[1]北京工商大学材料与机械工程学院,北京100048 [2]清华大学摩擦学国家重点实验室,北京100084

出　　处：《振动．测试与诊断》2016年第2期233-239,397,共7页Journal of Vibration,Measurement & Diagnosis

基　　金：国家自然科学基金资助项目(11272171)

摘　　要：针对含谐波减速器柔性空间机械臂的臂杆刚度以及关节转速对机械臂末端振动的影响,利用位置敏感探测器(position sensitive detector,简称PSD)对机械臂的振动特性进行了测试分析。通过改变臂杆刚度和关节转速中单一因素,分别测量了机械臂在不同臂杆刚度和不同关节转速下的末端振动响应。研究结果表明,随着臂杆拉力和机械臂关节转速的增大,机械臂末端的振动幅度呈现上升趋势,且机械臂关节转速的改变对机械臂末端振动的影响大于臂杆刚度所造成的振动影响。This paper describes multiple experiments that were performed on a position sensitive detector.In these experiments,arm stiffness and joint velocity were changed when the manipulator was moving in order to test their respective impacts on the vibration response of the manipulator end.The experimental results indicated that as arm stiffness and joint velocity increased,the vibration amplitude at the end of the manipulator showed an upward trend.In addition,the impact of joint velocity was greater than the impact of arm stiffness on vibration at the manipulator end.

关 键 词：臂杆刚度 关节转速 机械振动 位置敏感探测器 

分 类 号：TH113.1[机械工程—机械设计及理论]