提高柔性机器人运动状态下固有频率的一种方法

对提高柔性机器人运动状态下的固有频率进行了研究．首先分析了影响柔性机器人固有频率的因素，得出了在结构参数不变的情况下，可以通过适当调整运动参数来提高机器人固有频率的结论；然后研究了机器人的初始位形与运动参数的关系，提出了通过规划机器人的初始位形来调整运动参数从而提高机器人在运动状态下的固有频率的方法，并且给出了相应的算法；最后通过数值仿真验证了该方法的有效性．

A METHOD FOR INCREASING NATURAL FREQUENCIES OF MOVING FLEXIBLE MANIPULATORS

This paper presents a method to increase the natural frequencies of moving flexible manipulators. Firstly, the factors which influence natural frequencies of a flexible manipulator are analyzed and a conclusion is drawn that natrual frequencies of a flexible manipulator can be increased through adjusting the kinetic factors properly while its structural factors remain unchanged. Then, the relationship between the initial joint configuration and the kinetic factors of a flexible manipulator is studied, and a method for increasing natural frequencies of a moving flexible manipulator is proposed. This method can increase natural frequencies of a moving flexible manipulator by planning its initial joint configuration to adjust the kinetic factors. Furthermore, the corresponding algorithm is suggested. Finally, by carrying out some simulations, this method is demonstrated to be feasible.