基于FWA的柔性机械臂振动抑制轨迹规划  

Vibration Suppression Trajectory Planning for Flexible Manipulator Based on FWA

作　　者：王航 王帅[2] WANG Hang;WANG Shuai(College of Electromechanic Engineering,Xi’an Railway Vocational&Technical Institute,Xi’an 710026,China;School of Petroleum Engineering,Southwest Petroleum University,Chengdu 610500,China)

机构地区：[1]西安铁路职业技术学院机电工程学院,陕西西安710026 [2]西南石油大学石油工程学院,四川成都610500

出　　处：《机械与电子》2019年第4期17-21,27,共6页Machinery & Electronics

基　　金：国家自然科学基金项目(51606160)

摘　　要：为抑制柔性臂柔性关节的弹性振动,提出一种FWA优化算法结合傅里叶级数的轨迹规划方法。采用Lagrange法建立了柔性机械臂的动力学方程,得到了运动轨迹与残余振动的关系。以傅里叶级数的系数为待优化变量。运用FWA算法,获得待定变量的最优值,使得运动结束后机械臂末端残余振动最小,通过数值仿真验证了这种抑制振动方法是有效的。To suppress the vibration of flexible manipulator, a trajectory planning method based on FWA optimization algorithm and Fourier series was proposed. The dynamic equation of the flexible manipulator was established by Lagrange method.The relationship between the trajectory and residual vibration was obtained. The coefficients of Fourier series are the variables to be optimized. By using FWA algorithm, the optimal value of undetermined variables was obtained, which minimizes the residual vibration at the end of the manipulator. The numerical simulation results show that the method is effective.

关 键 词：柔性机械臂 振动抑制 FWA 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]