基于解析模态分析和输入整形的机器人末端振动实时抑制方法  

Real-time vibration suppression method of robot's end-effector based on analytical modal analysis and input shaping

作　　者：何成刚 汪晓鑫 李自立 高萌 刘吉华 邓文彬 HE Chenggang;WANG Xiaoxin;LI Zili;GAO Meng;LIU Jihua;DENG Wenbin(School of Rail Transportation,Wuyi University,Jiangmen 529020,China;Foshan Institute of Intelligent Equipment Technology,Foshan 528234,China;College of Intelligent Manufacturing and Transportation,Urban Vocational College of Sichuan,Chengdu 610110,China)

机构地区：[1]五邑大学轨道交通学院,广东江门529020 [2]佛山智能装备技术研究院,广东佛山528234 [3]四川城市职业学院智能制造与交通学院,四川成都610110

出　　处：《机电工程》2025年第2期327-338,共12页Journal of Mechanical & Electrical Engineering

基　　金：广东省基础与应用基础研究基金资助项目(2024A1515011409,2021B1515120044);广东省教育厅特色创新项目(2023KTSCX151)。

摘　　要：六自由度工业机器人连续工作过程中,由于运动状态突变及关节柔性会引起机器人末端振动。针对这一问题,提出了一种基于解析模态分析(AMA)和输入整形的工业机器人末端振动实时抑振方法。首先,结合机器人控制方案,建立了考虑机器人关节柔性的闭环动力学方程,并采用泰勒级数展开法推导出了机器人的线性化模态参数解析表达式,有效解析了机器人在振动状态下的模态参数;然后,依据机器人末端残余振动特性,采用级联法设计了双模态零振动微分(ZVD-ZVD)输入整形器,并提出了一种结合AMA和输入整形器的时变双模态抑振方法;最后,在六自由度工业机器人实验平台上,对AMA方法计算所得的解析模态参数与机器人实测模态参数进行了对比分析,并进行了机器人的末端残余振动抑制实验。研究结果表明:所采用的AMA方法对固有频率的最大计算误差仅为5.18%,对阻尼比的最大计算误差为0.0122,证明了AMA方法在时变双模态输入整形抑振方案中的有效性;利用时变双模态输入整形抑振方法,将机器人的三处末端残余振动的最大振幅分别降低至整形前的17.3933%、11.6716%和12.1311%,同时减少了非时变输入整形抑振方案的过量延时(由不准确的模态参数而导致),在整体性能上优于传统的非时变双模态输入整形抑振方法。A real-time vibration suppression method for the end-effector of a six-degree-of-freedom industrial robot was proposed,addressing the issue of vibrations caused by sudden changes in motion states and joint flexibility.The method was based on analytic modal analysis(AMA) and input shaping.Firstly,a closed-loop dynamic equation considering the robot's joint flexibility was established based on the robot's control scheme.The linearized modal parameters were derived using the Taylor series expansion method to effectively analyze the robot's modal parameters under vibration conditions.Based on the residual vibration characteristics of the robot's end-effector,a dual-mode zero vibration differential(ZVD-ZVD) input shaper was designed using the cascade method.Additionally,a time-varying dual-mode input shaping vibration suppression method was proposed by integrating AMA with the input shaper.Finally,an experimental analysis was conducted on a six-degree-of-freedom industrial robot platform to compare the analytic modal parameters obtained from the AMA method with the measured modal parameters.The end-effector's residual vibration suppression was also tested.The research results demonstrate that the AMA method achieves a maximum calculation error of 5.18% for the natural frequency and 0.012 2 for the damping ratio,confirming the effectiveness of the AMA method in the time-varying two-modal input shaping vibration suppression scheme.The time-varying two-modal input shaping scheme was used to reduce the maximum amplitude of residual vibrations at three points on the robot's end-effector to 17.393 3%,11.671 6%,and 12.131 1% of their values before shaping.Additionally,it minimizes excessive delays caused by inaccurate modal parameters in the non-time-varying input shaping scheme,proving superior overall performance compared to the traditional non-time-varying two-modal input shaping scheme.

关 键 词：机械振动 机器人末端执行器 残余振动 解析模态分析 输入整形 时变双模态抑振方法 双模态零振动微分 

分 类 号：TH113.1[机械工程—机械设计及理论] TH242.2