基于饱和原理的柔性机械臂减振研究  

A study on vibration reduction of a flexible manipulator based on the saturation principle

作　　者：张戈 高志慧[1] 边宇枢[1] ZHANG Ge;GAO Zhihui;BIAN Yushu(School of Mechanical Engineering&Automation,Beihang University,Beijing 100083,China)

机构地区：[1]北京航空航天大学机械工程及自动化学院

出　　处：《振动与冲击》2019年第24期1-7,共7页Journal of Vibration and Shock

基　　金：国家自然科学基金(51675017);“十三五”民用航天预研项目(D020205)

摘　　要：以刚柔耦合的柔性机械臂为研究对象,构造了具有非线性耦合项的半主动式内共振吸振器。通过调节吸振器参数,使柔性机械臂的一阶振动模态与吸振器振动模态形成2∶1内共振,建立了柔性机械臂的一阶振动模态与吸振器振动模态之间的能量通道。应用Kane方法建立了计入内共振吸振器的柔性机械臂在持续小幅外激励作用下的非线性动力学方程,利用多尺度方法得到非线性动力学方程的近似稳态解。通过分析稳态解的存在形式,证明了系统具有饱和现象;数值仿真验证了饱和现象的存在与吸振器的有效性。In this paper,a rigid-flexible coupling flexible manipulator was studied.A semi-active internal resonance vibration absorber with nonlinear coupling term was established.By adjusting the parameters of the vibration absorber,a 2:1 internal resonance between the first-order vibration mode of the flexible manipulator and the vibration mode of the vibration absorber was formed.As a result,an energy path between the two vibration modes was established.The nonlinear dynamic equations of the flexible manipulator equipped with the internal resonance absorber were established by using the Kane method.The approximate steady-state solutions of the nonlinear dynamic equations were obtained by using the multi-scale method.With the analysis of the existence of steady-state solutions,the saturation phenomenon of the system was proved to be existed;the existence of saturation phenomenon and effectiveness of the vibration absorber were verified by numerical simulation.

关 键 词：柔性机械臂 内共振 半主动式吸振器 饱和原理 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]