| Vibration Reduction of Open-chain Flexible Manipulators by Optimizing Independent Motions of Branch Links |
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| 作者姓名： | Bian Yushu Gao Zhihui Yun Chao |
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| 作者单位： | School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China |
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| 基金项目： | Foundation item： Ministry of Education Important Research Project of Science and Technology of China （307005）; National Hi-Tech Research and Development Program of China （SQ2007AA04Z231266） |
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| 摘 要： | In order to suppress vibration in flexible manipulators, a new type of manipulator mechanism with controllable local degrees of freedom is proposed. This mechanism consists of a main chain and some branch links. The main chain is of a flexible open-chain configuration with an end-effector installed at its tip, and the rigid branch links are able to perform active movements. It is proved by kinematics and dynamic analysis that, the branch links bear no direct kinematic relation to the main chain, but their independent motions can strongly affect the dynamic behavior and performance of the flexible manipulator. Then comes a new idea of suppressing vibration, in which independent motions of the branch links are used to suppress the undesired vibration of the flexible main chain through dynamic coupling. On this basis, an optimal method for reducing vibration of flexible manipulators is proposed. Finally, the effectiveness of this method is verified by numerical simulations.
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| 关 键 词： | 振动性能 操作技术 连接杆 飞行器 |
| 收稿时间： | 2007-06-20 |
| 修稿时间： | 2007-11-16 |
Vibration Reduction of Open-chain Flexible Manipulators by Optimizing Independent Motions of Branch Links |
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| Bian Yushu Gao Zhihui Yun Chao.Vibration Reduction of Open-chain Flexible Manipulators by Optimizing Independent Motions of Branch Links[J].Chinese Journal of Aeronautics,2008,21(1):79-85. |
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| Authors: | Bian Yushu Gao Zhihui Yun Chao |
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| Institution: | School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China |
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| Abstract: | In order to suppress vibration in flexible manipulators, a new type of manipulator mechanism with controllable local degrees of freedom is proposed. This mechanism consists of a main chain and some branch links. The main chain is of a flexible open-chain configuration with an end-effector installed at its tip, and the rigid branch links are able to perform active movements. It is proved by kinematics and dynamic analysis that, the branch links bear no direct kinematic relation to the main chain, but their independent motions can strongly affect the dynamic behavior and performance of the flexible manipulator. Then comes a new idea of suppressing vibration, in which independent motions of the branch links are used to suppress the undesired vibration of the flexible main chain through dynamic coupling. On this basis, an optimal method for reducing vibration of flexible manipulators is proposed. Finally, the effectiveness of this method is verified by numerical simulations. |
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| Keywords: | flexible manipulator vibration local degree of freedom branch link |
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