组合柔性机械臂抑振性能研究

【作者】 陈斌；

【导师】 张庆；

【作者基本信息】 南京理工大学 ， 机械电子工程， 2012， 硕士

【摘要】 一般将长径比大的机械臂称为柔性机械臂。柔性机械臂具有广泛的应用前景,但是柔性臂的变形和振动增加了运动控制的难度。将柔性臂做成组合结构,利用结合面间的滑移、摩擦、挤压来消耗能量,以达到抑制振动的目的。本文设计了三种不同截面形式的组合柔性臂,搭建组合柔性臂的振动检测系统,检测和分析组合柔性臂末端振动的位移、速度和加速度等信号。通过有限元和实物试验相结合的方法来进行组合柔性臂的静力学分析,实验结果证明可以使用有限元法来代替实验进行组合柔性臂的静力学分析。对三种不同截面的组合柔性臂进行弯曲变形试验,研究组合柔性臂在加载和卸载过程中力-变形曲线,提出能量耗散率来衡量组合柔性臂的静力学性能。研究夹紧力,减振层厚度以及摩擦系数等对组合柔性臂静力学性能的影响。将组合柔性臂和实体柔性臂的振动响应进行对比分析,证明组合柔性臂具有良好的抑振性能。结合实验分析的结果验证有限元进行组合柔性臂动力学分析的正确性和可行性。提出能量耗散率、振动衰减率、阻尼系数来衡量组合柔性臂抑制性能。研究夹紧力、摩擦系数等参数对组合柔性臂的抑振性能的影响。通过对波纹管组合柔性臂的弯扭复合振动试验,证明了组合柔性臂对弯扭复合振动的抑制性能。分析三种不同截面形式的组合柔性臂的区别和联系。更多还原

【Abstract】 We define the arm with large aspect ratio as flexible arm. Flexible arm has a wide range of application, but the deformation and vibration of flexible arm increase the difficulty of motion control. The flexible arm can be made of assembled structure, using slip、friction and extrusion to restrain vibration.This paper designed three different kinds of assembled flexible arm with different kinds of cross-section. Established vibration testing system of different kinds of assembled flexible arm, testing vibration displacement, velocity and acceleration.Researched static properties of different kinds of assembled flexible arm by finite element analysis and experiment, the results show that finite element analysis can be used to replace experiment to research static properties of assembled flexible arm. Do bending experiment of three different kinds of assembled flexible arm, studying the force-deformation curve in the process of loading and unloading, using energy dissipation rate to measure the static properties. Researched static properties under different clamping force,friction coefficient and thickness of laminated arm.Assembled flexible arms has a good vibration restraining performance, by comparing different vibration responses of assembled flexible arms and flexible arm. The results show that finite element analysis can be used to research dynamic properties of assembled flexible arm. Energy dissipation rate,vibration attenuation rate and damping coefficient can be used to measure the vibration restraining performance of assembled flexible arm. Researched dynamic properties under different clamping force.friction coefficient.It is proved that assembled flexible arm has a good torsional vibration restraining performance by the torsional vibration test of the assembled flexible arm with bellows laminated. pointed out the connection and difference of the three different kinds of assembled flexible arm with different cross-section.更多还原