Internal resonance property of flexible under-actuated manipulators
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摘要: 针对柔性欠驱动机械臂研究了被动关节处于自由摆动和锁定状态下系统所具有的不同动力学行为.通过对平面二连杆柔性欠驱动机械臂的非线性动力学分析,发现这种多模态非线性动力学系统的内共振对系统振动行为有重要影响.当结构参数满足一定条件时,系统发生的内共振能有效减小机械臂末端的振动.利用这一现象,提出一种柔性欠驱动机械臂的开环振动控制方法,这种方法降低了闭环振动控制方法对驱动元件性能的过高或控制器稳定的困难.以平面二连杆柔性欠驱动机械臂进行了建模和数值计算分析,结果证明了以上方法和结果.Abstract: The dynamic feature of the flexible underactuated manipulator under the state of free-swings or locked of the passive joints was analyzed. Through the nonlinear dynamic analyzing of a planar two-links flexible underactuated manipulator, it can be found that the internal resonance of the multi-modal nonlinear dynamic mechanical system influenced the vibration of the system considerably, An attractive property of the internal resonance of the flexible underactuated manipulator was that it could decrease the vibration of the end of the manipulator effectually with selecting appropriate parameters of the structure. Based on the dynamic analysis results, an open-looped control method, which had some merits in stabilizing the system or realizing by actuator than a closed-loop one for decreasing the structural vibration of the flexible underactuated manipulator, was suggested. A two-links flexible underactuated manipulator was molded mathematically and simulated numerically. The simulation results show some aspects of the research.
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Key words:
- flexible manipulators /
- underactuated /
- robots /
- resonance
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