高速平面并联机器人残余振动抑制实验

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振动与冲击 ›› 2014, Vol. 33 ›› Issue (24) : 164-168.

论文

高速平面并联机器人残余振动抑制实验

高名旺1 张宪民2

作者信息 +

Experiment of Residual Vibration Suppression for Planar Parallel robot with High-speed

GAO Ming-wang1 ZHANG Xian-min2

Author information +

文章历史 +

摘要

针对高速轻型并联机器人残余振动抑制问题，基于输入整形法，对其残余振动抑制进行实验研究。首先分析了并联机构运动学，建立了机构动力学模型。然后对每个输入轴分别设计一个比例-微分（PD）控制器，建立包含PD控制器的系统动力学模型。最后分别设计了单模态零振动（ZV）、零振动微分（ZVD）整形器和双模态零振动—零振动微分（ZV-ZVD）整形器，建立了并联机器人实验系统。实验结果表明，输入整形器可以抑制并联机器人的残余振动，而双模态整形器振动抑制效果更好。

Abstract

An experiment for residual vibration suspension of parallel robot was done based on input shaping control. Firstly, the kinematics of the planar parallel mechanism was analyzed and the dynamic of the manipulator was constructed. Then, a dynamic formula including these PD controllers was made up. Lastly, zero vibration (ZV), zero vibration and derivative (ZVD) for one mode shaper and zero vibration-zero vibration and derivative (ZV-ZVD) for two-mode input shapers were designed. An experiment system was set up. The experimental results show that input shapers offer significant reduction in the residual oscillation and the ZV-ZVD shaper is more effective for suspending residual oscillation.

导出引用

高名旺张宪民. 高速平面并联机器人残余振动抑制实验[J]. 振动与冲击, 2014, 33(24): 164-168

GAO Ming-wang ZHANG Xian-min. Experiment of Residual Vibration Suppression for Planar Parallel robot with High-speed[J]. Journal of Vibration and Shock, 2014, 33(24): 164-168