柔性机械臂结构-控制耦合特征的实验研究

利用柔性机械臂主动控制实验装置以及相应的动力学参数测试系统 ,采用光电编码器、加速度计和应变片分别检测柔性臂的大范围运动、末端振动及驱动力矩 ,对柔性机械臂结构 -控制耦合特性进行了研究。实验结果发现 :1)由于结构与控制系统的耦合 ,改变了柔性机械臂的第一阶振动频率 ;2 )在实现规定运动时 ,不同结构的柔性机械臂的驱动力矩形式明显不同 ;3)柔性机械臂的驱动力矩具有随伺服驱动系统工频的脉动现象。验证了柔性机械臂结构与控制系统之间存在相互作用 ;指出采取结构 -控制一体化设计方法是提高柔性机械臂性能的一个重要手段。

On the Structure-Control Interaction of Flexible Manipulators

An experimental system of a single link flexible manipulator with a measuring system of dynamic parameters has been developed. The rigid motion, tip vibrations and torque were respectively measured by a high precision optical encoder, acceleration gauges and strain gauges, and then the structure control coupling characteristics of the manipulator was studied. The experimental results show that: 1) The first natural frequency is changed due to structure control interaction of the manipulator; 2) The driving torque of the manipulator has the pulsation phenomena with the frequency of the servo control system; 3) Different manipulators have different shape of torque when they do the same rigid motion. So, the structure control interaction of the manipulator was verified, and the structure control integrated design method for the flexible manipulator was presented in order to improve the performance of the manipulator further.