Research On The Vibration Characteristics Of Active Excitation Tactile Sensing Manipulator System

In recent years,with the rapid development of robot technology,people's requirements for robots are getting higher and higher.As one of the important parts of robot,manipulator has higher requirements with the development of robot technology.In the past,the manipulator is more used in industrial production,some mechanical repeated actions,and all the working process is set up in advance by the control system.Now the manipulator is more and more used in the service industry,medical industry and so on,so the control requirements and flexibility of the manipulator become more and more high.So for a long time,the realization of mechanical hand soft grab is a lot of research scholars.Our constant pursuit.In this design,the mechanical condition monitoring and diagnosis technology is used to design and adjust the active excitation tactile sensing manipulator.In this paper,the mechanical condition monitoring and diagnosis technology is analyzed briefly,and finally the acoustic resonance method is selected to detect the excitation and vibration characteristics of the manipulator.Secondly,a new active excitation tactile sensor structure and its signal conditioning circuit are designed on the basis of acoustic resonance detection technology,and it is installed on the manipulator to carry on the experiment.Then the acoustic resonance signal is collected by LabVIEW software,and the repeatability and stability of the acoustic resonance testing system are verified and analyzed in the frequency domain,and the active excitation tactile sensing manipulator system is extracted to capture different objects.Vibration in different statu Characteristic parameters of the.Finally,the wavelet packet theory is used to Denoise the acoustic resonance signal,and the power spectrum and the corresponding energy eigenvalues of the manipulator in each state are obtained.Through the analysis of these characteristic parameters,the vibration characteristics of the active excitation tactile sensing manipulator system are determined,and the "characteristic fingerprint" marks of a group of manipulators in different load stable states are obtained.It provides a theoretical basis for the follow-up research of mechanical hand soft grab.