Research On Vibration Suppression Of Space Flexible Robotic Arm Basedon Constrained Damping Layer

Space robotic arm has many advantages of light weight, low energy consumption, and great space operation adaptability, and there are more and more applications in space control technology. However, Space robotic arm is general the kind of long straight configuration, and has the characteristic of large span, small diameter, light weight and weak stiffness. The flexible of space robotic arm cannot be ignored in dynamic modeling and control, and vibration caused by flexible can lead to the decrease of control accuracy, even, it may cause instability and damage the whole robotic arm. Therefore, in order to improve the reliability and accuracy of space control, deep study of vibration suppression of flexible space manipulator is very necessary.This paper focus on three kinds of methods about how to suppress the vibration of flexible space robotic arm: passive method, active method, and mixed method(combination of active and passive method). Passive method based on constrained damping materials, the paper describes its working principle, establishment of the model, analysis of kinematics and dynamics, and vibration simulation analysis. This part figure out how the thickness of constrained damping layer affect the effect of vibration suppression. Active method based on piezoelectric materials, similarly, this paper describes the working principle of piezoelectric materials, the establishment of the model, analysis of kinematics and dynamics, and vibration simulation analysis,at last, compares the difference between active and passive methods in vibration suppression. In the last chapter, passive method and active method are combined to find out the difference among mixed method, passive method and active method in vibration suppression.