基于非对称输入的支链嵌套并联机械手残余振动抑制研究  

Research on the residual vibration of a parallel robot with limbs of embedding structure based on asymmetric input

作　　者：戚开诚[1] 杨飞飞 张建军[1] 杨高炜[1] Qi Kaicheng;Yang Feifei;Zhang Jianjun;Yang Gaowei(Hebei University of Technology,Tianjin 300130,China)

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《现代制造工程》2018年第10期1-7,56,共8页Modern Manufacturing Engineering

基　　金：国家自然科学基金资助项目(51175144)

摘　　要：以一种三自由度支链嵌套并联机械手为研究对象,针对该机械手启/停过程中的残余振动问题,基于非对称输入进行了实验研究。首先通过调节非对称系数确定了在不同位移下的关节轨迹。然后采用非对称曲线加减速方法对电动机输入信号进行规划。最后通过搭建振动检测系统测试了在不同输入下的机械手动平台的振动图样。实验结果表明通过调节非对称输入的参数可以抑制机械手的末端残余振动,提高其运行平稳性。Taking a 3-DOF parallel manipulator with limbs of embedding structures as the research object, a test for residual vibration in the process of start and stop of the mechanism was done based on asymmetric input. Firstly, the joint trajectories at different strokes are determined by adjusting the asymmetric coefficient. Secondly, the asymmetric curve acceleration and deceleration method is used to plan the motor input signal. Lastly build performance detection system to test the performance of the manipulator under different asymmetric inputs. Experimental results show that by adjusting the parameters of asymmetric input can suppress the residual vibration of the end of the manipulator to improve its smooth running.

关 键 词：支链嵌套 残余振动 非对称输入 

分 类 号：TH12[机械工程—机械设计及理论]