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以消减振动为目的,提出一种具有可控局部自由度的新型柔性机器人的机构型式。这种机器人由主链和支杆组成,其中,主链为开链式结构并且具有柔性,末端执行器安装在主链的末端,支杆为刚性并可自主运动。通过运动学与动力学分析,从数学上证明了:机器人的支杆运动与主链运动并无直接联系,但是支杆的独立运动能够显著影响主链的动力学行为与性能。由此提出了一种抑制振动的新想法,即:通过动力学耦合的方式利用支杆的独立运动来消减柔性主链的不利振动。在此基础上,给出了消减柔性机器人振动的具体优化方法。最后,通过算例仿真验证了这种方法的有效性。
In order to reduce vibration, a new type of flexible robot with controlled local degree of freedom is proposed. The robot is composed of a main chain and a strut, wherein the main chain is open-chain structure and has flexibility, the end effector is installed at the end of the main chain, and the strut is rigid and can move autonomously. Through kinematics and dynamics analysis, it is mathematically proven that there is no direct relation between the strut movement of the robot and the movement of the main chain, but the independent movement of the strut can significantly affect the dynamic behavior and performance of the main chain. Therefore, a new idea of suppressing vibration is put forward. That is, the independent vibration of the flexible main chain is reduced by the kinematic coupling. On this basis, the specific optimization method to reduce the vibration of flexible robots is given. Finally, the effectiveness of this method is verified by an example simulation.