直线定位平台扰动激励下柔性操作臂的耦合振动特性研究

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摘要本文以直线定位平台柔性操作臂为对象，根据能量方法建立了系统的耦合动力学模型，考虑驱动过程中存在的运动波动，对直线定位平台的运动特性进行表征，结合建立的耦合动力学模型，得到柔性操作臂的耦合振动特性。通过理论分析和仿真实验，对不同运动特性下运动波动的扰动激励的作用机理进行研究。结果表明：运动波动对柔性操作臂的振动特性具有明显的影响，对于匀速运动情形，在起始阶段随着速度取值的增大，柔性操作臂的振动幅值有所增大，随着响应时间的增加，影响逐渐减小；对于匀加速运动情形，随着加速度取值的增大，柔性操作臂的振动幅值逐渐减小，且较大的加速度对波动的影响起到一定的抑制作用；理论与实验结果一致，验证了本文所建模型的正确性。本文研究结果对柔性操作臂的动态特性分析及振动控制具有一定的指导意义。

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关键词 ：定位平台, 柔性操作臂, 扰动激励, 耦合振动, 振动控制

Abstract：This paper towards a linear positioning platform flexible manipulator. Based on the energy method, the coupling dynamic model of the system was established. With considering the motion fluctuations during the driving, the motion of the linear positioning platform was described; subsequently, combining the established coupling dynamic model, the coupling vibration characteristics of the flexible manipulator, based on which the disturbance excitation mechanism for different motions was studied through theoretical analysis and simulation experiment. The results indicated that the motion fluctuations have a significant impact on the vibration characteristics of flexible manipulator, for the constant velocity motion situations, the vibration amplitudes increase with the velocity value increasing in the initial stage, and with the increase of the response time, the impact decreased; for the constant acceleration motion situations, the vibration amplitudes decrease with the acceleration value increasing, moreover, large accelerations

Key words： positioning platform flexible manipulator disturbance excitation coupling vibration vibration control

收稿日期: 2015-01-16 出版日期: 2015-08-15

引用本文:

刘玉飞李威杨雪锋王禹桥路恩. 直线定位平台扰动激励下柔性操作臂的耦合振动特性研究[J]. 振动与冲击, 2015, 34(15): 1-6.
LIU Yu-fei, LI Wei, YANG Xue-feng, WANG Yu-qiao, LU En. Investigation on coupling vibration characteristics of linear positioning platform flexible manipulators with disturbance excitation. JOURNAL OF VIBRATION AND SHOCK, 2015, 34(15): 1-6.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2015/V34/I15/1

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