组合柔性机械臂抑振性能研究
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摘要
一般将长径比大的机械臂称为柔性机械臂。柔性机械臂具有广泛的应用前景,但是柔性臂的变形和振动增加了运动控制的难度。将柔性臂做成组合结构,利用结合面间的滑移、摩擦、挤压来消耗能量,以达到抑制振动的目的。
本文设计了三种不同截面形式的组合柔性臂,搭建组合柔性臂的振动检测系统,检测和分析组合柔性臂末端振动的位移、速度和加速度等信号。
通过有限元和实物试验相结合的方法来进行组合柔性臂的静力学分析,实验结果证明可以使用有限元法来代替实验进行组合柔性臂的静力学分析。对三种不同截面的组合柔性臂进行弯曲变形试验,研究组合柔性臂在加载和卸载过程中力-变形曲线,提出能量耗散率来衡量组合柔性臂的静力学性能。研究夹紧力,减振层厚度以及摩擦系数等对组合柔性臂静力学性能的影响。
将组合柔性臂和实体柔性臂的振动响应进行对比分析,证明组合柔性臂具有良好的抑振性能。结合实验分析的结果验证有限元进行组合柔性臂动力学分析的正确性和可行性。提出能量耗散率、振动衰减率、阻尼系数来衡量组合柔性臂抑制性能。研究夹紧力、摩擦系数等参数对组合柔性臂的抑振性能的影响。通过对波纹管组合柔性臂的弯扭复合振动试验,证明了组合柔性臂对弯扭复合振动的抑制性能。分析三种不同截面形式的组合柔性臂的区别和联系。
We define the arm with large aspect ratio as flexible arm. Flexible arm has a wide range of application, but the deformation and vibration of flexible arm increase the difficulty of motion control. The flexible arm can be made of assembled structure, using slip、friction and extrusion to restrain vibration.
This paper designed three different kinds of assembled flexible arm with different kinds of cross-section. Established vibration testing system of different kinds of assembled flexible arm, testing vibration displacement, velocity and acceleration.
Researched static properties of different kinds of assembled flexible arm by finite element analysis and experiment, the results show that finite element analysis can be used to replace experiment to research static properties of assembled flexible arm. Do bending experiment of three different kinds of assembled flexible arm, studying the force-deformation curve in the process of loading and unloading, using energy dissipation rate to measure the static properties. Researched static properties under different clamping force,friction coefficient and thickness of laminated arm.
Assembled flexible arms has a good vibration restraining performance, by comparing different vibration responses of assembled flexible arms and flexible arm. The results show that finite element analysis can be used to research dynamic properties of assembled flexible arm. Energy dissipation rate,vibration attenuation rate and damping coefficient can be used to measure the vibration restraining performance of assembled flexible arm. Researched dynamic properties under different clamping force.friction coefficient.It is proved that assembled flexible arm has a good torsional vibration restraining performance by the torsional vibration test of the assembled flexible arm with bellows laminated. pointed out the connection and difference of the three different kinds of assembled flexible arm with different cross-section.
本文设计了三种不同截面形式的组合柔性臂,搭建组合柔性臂的振动检测系统,检测和分析组合柔性臂末端振动的位移、速度和加速度等信号。
通过有限元和实物试验相结合的方法来进行组合柔性臂的静力学分析,实验结果证明可以使用有限元法来代替实验进行组合柔性臂的静力学分析。对三种不同截面的组合柔性臂进行弯曲变形试验,研究组合柔性臂在加载和卸载过程中力-变形曲线,提出能量耗散率来衡量组合柔性臂的静力学性能。研究夹紧力,减振层厚度以及摩擦系数等对组合柔性臂静力学性能的影响。
将组合柔性臂和实体柔性臂的振动响应进行对比分析,证明组合柔性臂具有良好的抑振性能。结合实验分析的结果验证有限元进行组合柔性臂动力学分析的正确性和可行性。提出能量耗散率、振动衰减率、阻尼系数来衡量组合柔性臂抑制性能。研究夹紧力、摩擦系数等参数对组合柔性臂的抑振性能的影响。通过对波纹管组合柔性臂的弯扭复合振动试验,证明了组合柔性臂对弯扭复合振动的抑制性能。分析三种不同截面形式的组合柔性臂的区别和联系。
We define the arm with large aspect ratio as flexible arm. Flexible arm has a wide range of application, but the deformation and vibration of flexible arm increase the difficulty of motion control. The flexible arm can be made of assembled structure, using slip、friction and extrusion to restrain vibration.
This paper designed three different kinds of assembled flexible arm with different kinds of cross-section. Established vibration testing system of different kinds of assembled flexible arm, testing vibration displacement, velocity and acceleration.
Researched static properties of different kinds of assembled flexible arm by finite element analysis and experiment, the results show that finite element analysis can be used to replace experiment to research static properties of assembled flexible arm. Do bending experiment of three different kinds of assembled flexible arm, studying the force-deformation curve in the process of loading and unloading, using energy dissipation rate to measure the static properties. Researched static properties under different clamping force,friction coefficient and thickness of laminated arm.
Assembled flexible arms has a good vibration restraining performance, by comparing different vibration responses of assembled flexible arms and flexible arm. The results show that finite element analysis can be used to research dynamic properties of assembled flexible arm. Energy dissipation rate,vibration attenuation rate and damping coefficient can be used to measure the vibration restraining performance of assembled flexible arm. Researched dynamic properties under different clamping force.friction coefficient.It is proved that assembled flexible arm has a good torsional vibration restraining performance by the torsional vibration test of the assembled flexible arm with bellows laminated. pointed out the connection and difference of the three different kinds of assembled flexible arm with different cross-section.
引文
[1]张庆,王华坤,张世琪.组合柔性臂变形及迟滞分析[J].机械设计,2005,22(5)：12-14
[2]邹律龙.柔性臂工业机器人振动控制的研究[J].机床与液压,2009
[3]I. Sharf. Active Damping of a Large Flexible Manipulator With a Short-Reach Robot[J]. Journal of dynamic systems, measurement, and control,1996:704-713
[4]肖勇.大型卫星天线系统固有模态的有限元分析[J].机械设计与制造.2006,7(7)：1-2
[5]戈新生,姜兵利,刘延柱.空间刚柔性机械臂振动抑制的LQ最优控制方法[J].振动与冲击,1999,18(1)：49-53
[6]郭大猛.混凝土臂泵车柔性臂架激振力优化研究[J].机械与电子,2009,10：9-12
[7]Min Gu. Combined Discrete-Distributed Control of a Single-Link Flexible Manipulator Using a Lyapunov Approach[J]. Journal of Engineering for Industry,97B (2):448-455
[8]Nader Jalili. An Infinite Dimensional Distributed Base Controller for Regulation of Flexible Robot Arms[J]. Journal of dynamic systems, measurement, and control,97B (2): 714-736
[9]Vikram Kapila. Closed-Loop Input Shaping for Flexible Structures Using Time-Delay Control[J]. Journal of Dynamic Systems, Measurement, and Control,2000,122:454-459
[10]C. J. Damaren. Gain Scheduled SPR Controllers for Nonlinear Flexible Systems [J]. Journal of Dynamic Systems, Measurement, and Control,1996,118:698-702
[11]Kourosh Parsa. Control of Macro-Micro Manipulators Revisited[J]. Journal of Dynamic Systems, Measurement, and Control,2005,127:688-698
[12]Sungsoo Rhim. Combining a Multirate Repetitive Learning Controller With Command Shaping for Improved Flexible Manipulator Control[J]. Journal of Dynamic Systems, Measurement, and Control,2001,123:385-389
[13]David B. Rathbun. Pulse Width Control for Precise Positioning of Structurally Flexible Systems Subject to Stiction and Coulomb Friction[J]. Journal of Dynamic Systems, Measurement, and Control,2004,126:131-137
[14]Qiao Sun. Control of Flexible-Link Multiple Manipulators[J]. Journal of Dynamic Systems, Measurement, and Control,2004,124:67-75
[15]Joono Cheong. Two-Step Controller for 3-D Flexible Link Manipulators:Band-width Modulation and Modal Feedback Approach[J]. Journal of Dynamic Systems, Measurement, and Control,2002,124,566-573
[16]S. Thomas. Position Control of Single Link Flexible Manipulator by Variable Structure Model Following Control[J]. Journal of Dynamic Systems, Measurement, and Control,1997,119:330-335
[17]V. Feliu. Feedforward Control of Single-Link Flexible Manipulators by Discrete Model Inversion[J]. Journal of Dynamic Systems, Measurement, and Control, 1999,121:713-721
[18]H. A. Talebi. A Neural Network Controller for a Class of Nonlinear Non-Minimum Phase Systems with Application to a Flexible-Link Manipulator[J]. Journal of Dynamic Systems, Measurement, and Control,2005,127:289-293
[19]吴大方.压电智能柔性梁振动主动控制研究[J].北京航空航天大学学报,2004,2(30)：160-163
[20]王宏祥.压电陶瓷的组合结构对直梁弯曲模态的影响[J].辽宁工学院学报,2004,3(24)：31-36
[21]董春斌.基于压电驱动器的柔性臂扭振控制器[D].浙江大学学位论文,2005
[22]单业涛.基于压电模糊控制的2R柔性机械臂主动抑振实验研究[J].机械设计与制造,2009,2：135-137
[23]周刚.柔性机械臂振动压电抑振新方法[J].机械与电子,2007,9：60-63
[24]顾松年.压电柔性机械臂的主动振动控制研究[J].机械人,2004,1：45-48
[25]Mohsen Dadfarnia. A Lyapunov-Based Piezoelectric Controller for Flexible Cartesian Robot Manipulators[J]. Journal of Dynamic Systems, Measurement, and Control,2004, 126:347-357
[26]胡洪生.移动质量激励梁振动主动控制研究[D].南京理工大学学位论文,2005
[27]张庆.组合柔性机械臂动力学特性与振动抑制性能的研究[D].南京理工大学学位论文,2009
[28]Marco A. Arteaga. On the Properties of a Dynamic model of Flexible Robot Manipulators[J]. Journal of Dynamic Systems, Measurement, and Control,1998,120:8-14
[29]Alessandro Gasparetto. On the Modeling of Flexible-Link Planar Mechanisms: Experimental Validation of an Accurate Dynamic Model [J]. Journal of Dynamic Systems, Measurement, and Control,2004,126:365-374
[30]刘鸿文.材料力学[M].高等教育出版社,2004
[31]王彬.振动分析及应用[M].海潮出版社,1992
[32]马良理,冯仁贤,徐德炳等.应变电测与传感技术[M].中国计量出版社,1993
[33]吴宗岱,陶宝棋.应变电测原理及技术[M].国防工业出版社,1982
[34]韩云台.测试技术基础[M].国防工业出版社,1982
[35]曾光奇,胡均安.工程测试技术基础[M].武汉：华中科技大学出版社,2000
[36]北戴河电子仪器厂.CA系列电荷放大器使用说明书
[37]顾强等.钢结构滞回性能及抗振设计[J].中国建筑工业出版社,2009
[38]龚宪生,赵枚.非线性滞迟特性钢丝绳联轴器建模及参数识别[J].第六届全国振动理论及应用学术会议论文集,1997：408-411
[39]白鸿柏,张培林,郑坚.迟滞振动系统及其工程应用[M].科学出版社,2002
[40]韩清凯,刘杰,闻邦椿.不对称滞回模型的一般形式机器参数慢变特性[J].振动与冲击,2000,19(3)：34-37
[41]刘扬,刘巨保,罗敏编.有限元分析及应用[M].北京：中国电力出版社,2008
[42]石亦平,周玉蓉.ABAQUS有限元分析实例详解[M].北京：机械工业出版社,2006
[43]曹金凤,石亦平.ABAQUS有限元分析常见问题解答[M].北京：机械工业出版社,2009
[44]张庆,王华坤,张世琪.组合柔性机械臂抑振性能的仿真及试验研究[J].南京理工大学学报,2007,31(5)：568-573
[45]黄平.摩擦学教程[M].北京：高等教育出版社,2008
[46]温诗铸.摩擦学原理[M].北京：清华大学出版社,1990
[47]王仁广,李志远,张彪等.盘式制动器平均摩擦系数的试验研究[J].实验技术与管理,2010, 1(27)： 29-31
[48]电机工程手册编辑委员会.机械工程手册[M].北京：机械工业出版社,1980
[49]占君,张倩,满谦等.MATLAB函数查询手册[M].北京：机械工业出版社,2011
[50]尤钦科.最小二乘法[M].人民交通出版社,1965
[51]胡海岩.机械振动基础[M].北京：北京航空航天出版社,2004
[52]张延教.高等动力学[M].南京：南京理工大学,2008
[53]全垄垫,权成七.柔性臂动力学模型的选择[J].延边大学学报,1999,25(4)：266-269
[2]邹律龙.柔性臂工业机器人振动控制的研究[J].机床与液压,2009
[3]I. Sharf. Active Damping of a Large Flexible Manipulator With a Short-Reach Robot[J]. Journal of dynamic systems, measurement, and control,1996:704-713
[4]肖勇.大型卫星天线系统固有模态的有限元分析[J].机械设计与制造.2006,7(7)：1-2
[5]戈新生,姜兵利,刘延柱.空间刚柔性机械臂振动抑制的LQ最优控制方法[J].振动与冲击,1999,18(1)：49-53
[6]郭大猛.混凝土臂泵车柔性臂架激振力优化研究[J].机械与电子,2009,10：9-12
[7]Min Gu. Combined Discrete-Distributed Control of a Single-Link Flexible Manipulator Using a Lyapunov Approach[J]. Journal of Engineering for Industry,97B (2):448-455
[8]Nader Jalili. An Infinite Dimensional Distributed Base Controller for Regulation of Flexible Robot Arms[J]. Journal of dynamic systems, measurement, and control,97B (2): 714-736
[9]Vikram Kapila. Closed-Loop Input Shaping for Flexible Structures Using Time-Delay Control[J]. Journal of Dynamic Systems, Measurement, and Control,2000,122:454-459
[10]C. J. Damaren. Gain Scheduled SPR Controllers for Nonlinear Flexible Systems [J]. Journal of Dynamic Systems, Measurement, and Control,1996,118:698-702
[11]Kourosh Parsa. Control of Macro-Micro Manipulators Revisited[J]. Journal of Dynamic Systems, Measurement, and Control,2005,127:688-698
[12]Sungsoo Rhim. Combining a Multirate Repetitive Learning Controller With Command Shaping for Improved Flexible Manipulator Control[J]. Journal of Dynamic Systems, Measurement, and Control,2001,123:385-389
[13]David B. Rathbun. Pulse Width Control for Precise Positioning of Structurally Flexible Systems Subject to Stiction and Coulomb Friction[J]. Journal of Dynamic Systems, Measurement, and Control,2004,126:131-137
[14]Qiao Sun. Control of Flexible-Link Multiple Manipulators[J]. Journal of Dynamic Systems, Measurement, and Control,2004,124:67-75
[15]Joono Cheong. Two-Step Controller for 3-D Flexible Link Manipulators:Band-width Modulation and Modal Feedback Approach[J]. Journal of Dynamic Systems, Measurement, and Control,2002,124,566-573
[16]S. Thomas. Position Control of Single Link Flexible Manipulator by Variable Structure Model Following Control[J]. Journal of Dynamic Systems, Measurement, and Control,1997,119:330-335
[17]V. Feliu. Feedforward Control of Single-Link Flexible Manipulators by Discrete Model Inversion[J]. Journal of Dynamic Systems, Measurement, and Control, 1999,121:713-721
[18]H. A. Talebi. A Neural Network Controller for a Class of Nonlinear Non-Minimum Phase Systems with Application to a Flexible-Link Manipulator[J]. Journal of Dynamic Systems, Measurement, and Control,2005,127:289-293
[19]吴大方.压电智能柔性梁振动主动控制研究[J].北京航空航天大学学报,2004,2(30)：160-163
[20]王宏祥.压电陶瓷的组合结构对直梁弯曲模态的影响[J].辽宁工学院学报,2004,3(24)：31-36
[21]董春斌.基于压电驱动器的柔性臂扭振控制器[D].浙江大学学位论文,2005
[22]单业涛.基于压电模糊控制的2R柔性机械臂主动抑振实验研究[J].机械设计与制造,2009,2：135-137
[23]周刚.柔性机械臂振动压电抑振新方法[J].机械与电子,2007,9：60-63
[24]顾松年.压电柔性机械臂的主动振动控制研究[J].机械人,2004,1：45-48
[25]Mohsen Dadfarnia. A Lyapunov-Based Piezoelectric Controller for Flexible Cartesian Robot Manipulators[J]. Journal of Dynamic Systems, Measurement, and Control,2004, 126:347-357
[26]胡洪生.移动质量激励梁振动主动控制研究[D].南京理工大学学位论文,2005
[27]张庆.组合柔性机械臂动力学特性与振动抑制性能的研究[D].南京理工大学学位论文,2009
[28]Marco A. Arteaga. On the Properties of a Dynamic model of Flexible Robot Manipulators[J]. Journal of Dynamic Systems, Measurement, and Control,1998,120:8-14
[29]Alessandro Gasparetto. On the Modeling of Flexible-Link Planar Mechanisms: Experimental Validation of an Accurate Dynamic Model [J]. Journal of Dynamic Systems, Measurement, and Control,2004,126:365-374
[30]刘鸿文.材料力学[M].高等教育出版社,2004
[31]王彬.振动分析及应用[M].海潮出版社,1992
[32]马良理,冯仁贤,徐德炳等.应变电测与传感技术[M].中国计量出版社,1993
[33]吴宗岱,陶宝棋.应变电测原理及技术[M].国防工业出版社,1982
[34]韩云台.测试技术基础[M].国防工业出版社,1982
[35]曾光奇,胡均安.工程测试技术基础[M].武汉：华中科技大学出版社,2000
[36]北戴河电子仪器厂.CA系列电荷放大器使用说明书
[37]顾强等.钢结构滞回性能及抗振设计[J].中国建筑工业出版社,2009
[38]龚宪生,赵枚.非线性滞迟特性钢丝绳联轴器建模及参数识别[J].第六届全国振动理论及应用学术会议论文集,1997：408-411
[39]白鸿柏,张培林,郑坚.迟滞振动系统及其工程应用[M].科学出版社,2002
[40]韩清凯,刘杰,闻邦椿.不对称滞回模型的一般形式机器参数慢变特性[J].振动与冲击,2000,19(3)：34-37
[41]刘扬,刘巨保,罗敏编.有限元分析及应用[M].北京：中国电力出版社,2008
[42]石亦平,周玉蓉.ABAQUS有限元分析实例详解[M].北京：机械工业出版社,2006
[43]曹金凤,石亦平.ABAQUS有限元分析常见问题解答[M].北京：机械工业出版社,2009
[44]张庆,王华坤,张世琪.组合柔性机械臂抑振性能的仿真及试验研究[J].南京理工大学学报,2007,31(5)：568-573
[45]黄平.摩擦学教程[M].北京：高等教育出版社,2008
[46]温诗铸.摩擦学原理[M].北京：清华大学出版社,1990
[47]王仁广,李志远,张彪等.盘式制动器平均摩擦系数的试验研究[J].实验技术与管理,2010, 1(27)： 29-31
[48]电机工程手册编辑委员会.机械工程手册[M].北京：机械工业出版社,1980
[49]占君,张倩,满谦等.MATLAB函数查询手册[M].北京：机械工业出版社,2011
[50]尤钦科.最小二乘法[M].人民交通出版社,1965
[51]胡海岩.机械振动基础[M].北京：北京航空航天出版社,2004
[52]张延教.高等动力学[M].南京：南京理工大学,2008
[53]全垄垫,权成七.柔性臂动力学模型的选择[J].延边大学学报,1999,25(4)：266-269