高速柔性容差机构抑振研究及其最优驱动设计  

Vibration Suppression of High-Speed Flexible Tolerance Mechanism and its Optimal Motion Design

作　　者：娄洁尧 林松[1] 江竞宇 LOU Jieyao;LIN Song;JIANG Jingyu(School of Mechanical Engineering,Tongji University,Shanghai 201804,China)

机构地区：[1]同济大学机械与能源工程学院,上海201804

出　　处：《机械》2024年第8期1-10,共10页Machinery

基　　金：国家重点研发计划(2022YFE0114100)。

摘　　要：智能建造中需要引入钢筋自动捆扎设备,以提高捆扎效率及质量,降低工人劳动强度,为人机协作提供新的应用场景。针对现阶段钢筋自动捆扎设备视觉定位精度不高的技术瓶颈问题,引入容差机构,利用容差机构欠驱动的特性弥补视觉定位误差。但欠驱动中的弹性构件在运动平台高速运行时会因惯性力导致系统振动,影响捆扎精度并限制工作效率。针对这一问题,运用最优化动态控制理论,确定了控制运动规律和关键的系统结构设计参数,旨在减少非稳定过渡时间、能量消耗和稳态误差。对研究结果进行了数字仿真与实验验证,结果显示:与传统驱动方法相比,经最优控制设计的驱动方式在非稳定过渡时间和稳态误差方面具有明显的综合优势。An automatic rebar tying equipment is introduced to improve efficiency and quality in intelligent construction,to reduce labor intensity for workers and to provide new application scenarios for human-machine collaboration.However,current automatic rebar tying devices suffer from a technical bottleneck problem of low visual positioning accuracy.This paper addresses this issue by introducing a tolerance mechanism,which utilizes its underactuated characteristics to compensate for visual positioning errors.However,the elastic components in the underactuated mechanism generate inertia forces during high-speed motion of the moving platform,causing system vibrations that affect tying accuracy and limit work efficiency.To tackle this problem,the paper applies optimal dynamic control theory to determine control motion patterns and system design parameters,so as to reduce stabilization time,energy consumption,and steady-state errors.Simulation and experimental validation of the research results show that the driving mode designed through optimal control exhibits significant advantages over traditional driving methods in terms of stabilization time and steady-state errors.

关 键 词：钢筋捆扎 容差机构 弹性原件 最优化控制 运动控制规律 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]