Research On Vibration Reduction Method Of Robot Single-Link Flexible Manipulator

With the development of the application of smart technology,the requirements of high-speed?high precision and low energy consumption of industrial robots are becoming more and more important,it is this demand that promotes the rapid design of light-weight industrial flexible manipulators.However,it has also been found that the control of such systems faces some challenging problems when the flexibility of the manipulator must be taken into account,especially the control of vibration.The single-link variable-section flexible manipulator?Galvanized steel sheet?is taken as the research object in this paper,and the vibration mechanism and characteristics of the beam are analyzed in combination with the vibration problem theory of the beam in vibration mechanics.Based on Euler-Bernoulli beam theory,a dynamic model is found for the research object of this subject.a fast algorithm of beam vibration characteristics is proposed based on the finite element segmentation idea,the characteristic parameters of the subject are calculated.the method was verified by finite element analysis software,and the error of the two results was within a reasonable range?3%?.Then,a vibration suppression method based on the trajectory planning and motion parameter configuration of flexible manipulator is proposed by studying the idea of command shaping technology.The trajectory of the manipulator is divided into three-stage:acceleration,uniform speed and deceleration,the movement time of the acceleration and deceleration sections is equal to an integral multiple of the natural period of the object of the system by configuring the acceleration and the maximum speed value,That ist_?/??=n?T_?????n is a positive integer greater than zero?,which can greatly reduce the residual vibration of the system.The state space method is used to solve the transfer function of the controlled object,and the simulation and results analysis using Simulink show that the method has good vibration suppression effect.the method has good vibration suppression effect.When the accelerationa?62.8rad/s²,the angular velocity of the manipulator v?15.76rad/s and the acceleration/deceleration time t_?/??=T_????,the suppression of residual vibration of the system can reach more than 90%,and the vibration suppression effect is slightly weakened with the increase of speed and acceleration.Finally,a single-link flexible manipulator vibration experimental platform is built,and the vibration suppression method using motion parameters configuration of this subject is experimentally studied,and the accuracy of the characteristic parameters of the controlled object is verified.Experiments were carried out on the parameters of each stage of the motion trajectory of the flexible arm,and the experimental data were collected.Then the curve of the experimental data was drawn and the results of each case were comprehensively analyzed and compared.The experimental results show that:when the acceleration/deceleration time t_?/??=n?T_????,the residual vibration of the system is obviously reduced,in the case of a?62.8rad/s²,v?15.76rad/s and t_?/??=T_????,the suppression of residual vibration of the system is 85%or more,since there are some uncontrollable factors in the experiment,it is reasonable to have an error of about 5%compared with the results of the previous simulation.Through modeling,simulation and experimental research,The result proved that the motion parameter configuration vibration suppression method is reasonable and correct,and the method is easy and convenient to operate,and also has certain guiding significance for the vibration reduction of flexible manipulator.