换轨机器人共融悬臂算子分裂输运原理
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摘要
为优化共融悬臂柔顺特性,提升换轨精度,以自动换轨装备悬臂算子多体系统为对象,针对换轨机器人龙口悬臂在无载荷、吊轨及施工过程中的末端振动现象,建立在不同模态频率、静力荷载和剪切效应作用下的混阶时空输运模型;引入Bezier插值离散方法,求解机器人共融悬臂混阶时空算子分裂输运变化,得到悬臂末端空间尺度上载荷冲击、惯性偏移与时间尺度上温变梯度、轴向变形等因变参数对悬臂振动特性的影响规律,为共融悬臂的优化设计提供指导。实验结果表明,混阶时空载荷、制动约束与模态频率、惯性偏移呈正比关系,且理论数值分析、仿真模型结果与实验标定数据具有一致性与互证性。
To improve the compliant mechanism characteristic of cantilever,with automatic equipment for rail bracket operator splitting multi-body system as the object,in view of the robot in cantilever and vibration phenomenon at the end of crane rail and construction process,the mixed space-time and space transport model under the action of different modal frequency,static load and shear effect was built.By introducing Bezier interpolation discrete method,the derive robot communion cantilever mixed order operator splitting transport of time and space change rule was solved to obtain the influence rule of cantilever space offset impact load,inertia and time on temperature gradient and axial deformation on cantilever vibration due to the variable parameters.The test results showed that the mixed order time and space load and the braking constraint were directly proportional to the modal frequency and the inertia offset.The results of theoretical analysis and simulation were consistent with the experimental calibration data and cross correlation.
To improve the compliant mechanism characteristic of cantilever,with automatic equipment for rail bracket operator splitting multi-body system as the object,in view of the robot in cantilever and vibration phenomenon at the end of crane rail and construction process,the mixed space-time and space transport model under the action of different modal frequency,static load and shear effect was built.By introducing Bezier interpolation discrete method,the derive robot communion cantilever mixed order operator splitting transport of time and space change rule was solved to obtain the influence rule of cantilever space offset impact load,inertia and time on temperature gradient and axial deformation on cantilever vibration due to the variable parameters.The test results showed that the mixed order time and space load and the braking constraint were directly proportional to the modal frequency and the inertia offset.The results of theoretical analysis and simulation were consistent with the experimental calibration data and cross correlation.
引文
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[14]WANG Xiangbing,TONG Shuiguang.Based on the nonlinear dynamics of mechanical arm of hydraulic excavator[J].Journal of Vibration and Shock,2014,33(1):63-70(in Chinese).[王相兵,童水光.基于刚柔耦合的液压挖掘机机械臂非线性动力学研究[J].振动与冲击,2014,33(1):63-70.]
[2]LIU Jie,DAI Li,ZHAO Lijuan,et al.Flexible multi-body dynamics modeling and simulation of concrete pump arm frame[J].Journal of Mechanical Engineering,2007,43(1):131-134(in Chinese).[刘杰,戴丽,赵丽娟,等.混凝土泵车臂架柔性多体动力学建模与仿真[J].机械工程学报,2007,43(1):131-134.]
[3]RONG jili,XIANG Yang,XIN Pengfei.Vibration control and experiment research of two-link flexible manipulator considering flexibility of the joint[J].Journal of Astronautics,2017,38(10):1024-1031(in Chinese).[荣吉利,项阳,辛鹏飞,考虑关节柔性的双连杆机械臂振动控制及实验研究[J].宇航学报,2017,38(10):1024-1031.]
[4]LEUNG A Y T,WU,Zheng W F.Nonlinear dynamic analysis of flexible multibody system[J].Acute Mechanical Solidi Sonica,2004,17(4):330-336.
[5]LI Yefei,QIU Qingyin,FENG Peisi.Based on the dynamic analysis of the time-variant structure of the hybrid modeling[J]Journal of Zhejiang University:Engineering Science,2007,16(2):311-314(in Chinese).[黎业飞,邱清盈,冯培思.基于刚柔混合建模的时变结构动力学分析[J].浙江大学学报:工学版,2007,16(2):311-314.]
[6]LIU Jianying,FANG Xiaoyue,GONG Jinliang.Modal analysis of cantilever beams with different boundary conditions[J].Journal of Vibration and Shock,2017,36(19):221-241(in Chinese).[刘建英,王效岳,宫金良.考虑不同边界条件悬臂梁的模态研究[J].振动与冲击,2017,36(19):221-241.]
[7]DU Wenzheng,ZHANG Jinxing,YAO Xiaoguang,et al.Mathematical vibration model and experiments of special telescopic crane boom[J].Journal of Vibration and Shock,2016,35(22):169-175(in Chinese).[杜文正,张金星,姚晓光,等.特种起重机伸缩臂振动特性建模分析与试验[J].振动与冲击,2016,35(22):169-175.]
[8]LIANG Jie,CHEN Li,LIANG Pin.Neural network adaptive control and vibration hierarchical fuzzy control of flexible arm space robot[J].Computer Integrated Manufacturing Systems,2012,18(9):1930-1937(in Chinese).[梁捷,陈力,梁频.柔性臂空间机器人的神经网络自适应控制及振动模态分级模糊控制[J],计算机集成制造系统,2012,18(9):1930-1937.]
[9]XU Yan,LIU Jie,SUN Guangfu,et al.The influence of rigid coupled motion on the natural frequency of crane boom[J].Journal of Mechanical Engineering,2006,42(8):142-145(in Chinese).[徐彦,刘杰,孙光复,等.刚柔耦合运动对起重机吊臂振动固有频率的影响[J].机械工程学报,2006,42(8):142-145.]
[10]IRINA V,MATTHEW F,MUHAMMED K.HAVS and HAV-nots:investigating resonance in the human arm caused by contact with machinery[J].Materials Science&Engineering Journal,2016,6:26-31.
[11]SAYAHKARAJY M,MOHAMED Z,FAUDZI A A M,et al.Hybrid vibration and rest-to-rest control of a two-link flexible robotic arm using H∞loop-shaping control design[J].Engineering Computations,2016,33(2):395-409.
[12]SADRI M,YOUNESIAN D,ESMAILZADEH E.Nonlinear harmonic vibration and stability analysis of a cantilever beam carrying an intermediate lumped mass[J],Nonlinear Dynamics,2016,84(3):1667-1682.
[13]DUAN Yong,HE Linshu.Experimental study on vibration control method of flexible self adaptive truss structure[J],Computer Integrated Manufacturing Systems,2006,11(5):732-737(in Chinese).[段勇,何麟书.柔性自适应桁架结构的振动控制方法实验研究[J].计算机集成制造系统,2006,11(5):732-737.]
[14]WANG Xiangbing,TONG Shuiguang.Based on the nonlinear dynamics of mechanical arm of hydraulic excavator[J].Journal of Vibration and Shock,2014,33(1):63-70(in Chinese).[王相兵,童水光.基于刚柔耦合的液压挖掘机机械臂非线性动力学研究[J].振动与冲击,2014,33(1):63-70.]