粘弹性阻尼材料在柔性机械手振动控制中应用的实验研究

EXPERIMENTAL INVESTIGATION OF A ROBOTIC MANIPULATOR WITH CONSTRAINED VISCOELASTIC DAMPING ARMS

  • 摘要: 本文对一实验用柔性机械手进行了粘弹性约束阻尼处理,以减少柔性振动,改善控制系统的稳定性,提高定位精度.文中给出了测量机械手柔性振动的实验方法,对约束阻尼处理前和处理后的机械手进行了柔性振动、残余振动、重复定位精度等实验研究,并做了比较.

     

    Abstract: In this paper constrained viscoelastic layer damping treatments are applied to a planar manipulator which was built as an experimental research device for work in dynamics and control development,as a means of damping out the vibration and enhancing system stability.An experimental method is proposed and undertaken to investigate flexible vibration,residual vibration,and repeatability of the manipulator with viscoelastic damping.These experimental data are then compared with the results of the original manipulator.

     

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