Residual vibration control for a flexible manipulator

被引：0

作者：

Du Y. ^{[1
]}

Wang C. ^{[1
]}

机构：

[1] School of Astronautics, Harbin Institute of Technology, Harbin

来源：

Zhendong yu Chongji/Journal of Vibration and Shock | 2019年 / 38卷 / 07期

关键词：

Flexible manipulator; Residual vibration; Rigid-flexible coupling; Vibration control;

D O I：

10.13465/j.cnki.jvs.2019.07.024

中图分类号：

学科分类号：

摘要：

In order to control residual vibration for a flexible manipulator after its motion stopping, the first-order approximation rigid-flexible coupled dynamic model was built for the flexible manipulator system and its rigid-flexible coupled dynamic model under a non-inertial coordinates was all derived. During the flexible manipulator having triangular and trapezoidal motion laws, the system vibration deformations were simulated under different motion parameters. The simulation results showed that the system's residual vibration amplitude after its motion stopping is larger when its decelerating time is smaller than the system's first order natural vibration period; the system's residual vibration is well suppressed when its decelerating time is equal to the system's first order natural vibration period; when its decelerating time is constant, the system's residual vibration fluctuates with the variation of the time of its rotation with a constant speed; when the time of its rotation with a constant speed is a quarter of the system's first order natural vibration period, the system's residual vibration reaches a local minimum. © 2019, Editorial Office of Journal of Vibration and Shock. All right reserved.

引用

页码：165 / 171

页数：6

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