3种材料在柔性机械臂振动抑制中的特性对比
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摘要
在所设计的柔性机械臂的基础上,利用SolidWorks Simulation对合金钢、铝合金、碳纤维增强环氧树脂基复合材料3种结构材料的机械臂进行线性动态分析,分别从谐波分析和瞬态振动分析两个方面对机械臂进行仿真。结果表明,碳纤维增强环氧树脂基复合材料对机械臂具有明显的减振作用,其振动衰减速度及振动衰减效果要优于传统合金材料,为机械臂的设计及振动抑制提供了参考。
Based on the designed flexible manipulator, SolidWorks Simulation was used to do the linear dynamic analysis of manipulator, which was respectively made by three structure materials of alloy steel, aluminum alloy, carbon fiber reinforced epoxy resin matrix composites, and the manipulator was mainly simulated from two aspects of harmonic analysis and transient vibration analysis. The results show that the carbon fiber reinforced epoxy resin matrix composites have obvious damping effect on the manipulator, and the attenuation of vibration velocity is superior to the traditional alloy material as well as the vibration attenuation effect, which provides a reference for the design and vibration suppression of manipulator.
Based on the designed flexible manipulator, SolidWorks Simulation was used to do the linear dynamic analysis of manipulator, which was respectively made by three structure materials of alloy steel, aluminum alloy, carbon fiber reinforced epoxy resin matrix composites, and the manipulator was mainly simulated from two aspects of harmonic analysis and transient vibration analysis. The results show that the carbon fiber reinforced epoxy resin matrix composites have obvious damping effect on the manipulator, and the attenuation of vibration velocity is superior to the traditional alloy material as well as the vibration attenuation effect, which provides a reference for the design and vibration suppression of manipulator.
引文
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[20] 程卫平.聚丙烯腈基碳纤维在航天领域应用及发展[J].宇航材料工艺,2015(6):11-16.CHENG W P.Development of PAN-Based Carbon Fibers in Aerospace[J].Aerospace Material Technology,2015(6):11-16.
[21] KUROWSKI P.Engineering Analysis with SolidWorks Simulation 2013[M].SDC Publications,2013.
[2] 李瑞杰,何安荣,徐超,等.碳纤维增强复合材料结构阻尼性能研究[J].宇航材料工艺,2012,42(4):64-67.LI R J,HE A R,XU C,et al.Structural Damping Determination of Carbon Fiber Reinforced Composite[J].Aerospace Material Technology,2012,42(4):64-67.
[3] MIRSHEKARAN M,PILTAN F,ESMAEILI Z,et al.Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator[J].International Journal of Modern Education and Computer Science,2013,5(10):53-63.
[4] JIANG X,KONNO A,UCHIYAMA M.Vision-Based Task-Level Control of a Flexible-Link Manipulator[J].Advanced Robotics,2010,24(4):467-488.
[5] MARTINS J,MOHAMED Z,TOKHI M O,et al.Approaches for Dynamic Modelling of Flexible Manipulator Systems[C]//Proceedings of IEE Proceedings:Control Theory and Applications.IET,2003,150(4):401-411.
[6] 赵杰亮,谷勇霞,阎绍泽,等.谐波传动对柔性机械臂动力学特性的影响[J].清华大学学报(自然科学版),2013(4):482-486.ZHAO J L,GU Y X,YAN S Z,et al.Effect of a Harmonic Drive on the Dynamic Properties of a Flexible Space Manipulator[J].Journal of Tsinghua University(Natural Science Edition),2013(4):482-486.
[7] KHAIRUDIN M,MOHAMED Z,HUSAIN A R.Dynamic Model and Robust Control of Flexible Link Robot Manipulator[J].TELKOMNIKA(Telecommunication Computing Electronics and Control),2013,9(2):279-286.
[8] ZHAO J,YAN S,WU J,et al.Kinematic Accuracy of the Space Manipulator with Harmonic Drive Considering Non-constraint Boundary Modal[C]//Proceedings of Mechatronics and Automation(ICMA),2014 IEEE International Conference on.IEEE,2014:1022-1028.
[9] ZHAO J,WU J,YAN S,et al.Dynamic Modeling and Motion Precision Analysis of Spacecraft Manipulator with Harmonic Drive Considering the Alternate Thermal Field in Orbit[J].Proceedings of the Institution of Mechanical Engineers,Part G:Journal of Aerospace Engineering,2015,229(1):135-148.
[10] DENG H,SUN J D,HUANG S D,et al.Vibration Suppression of the Flexible Manipulator Using Optimal Input Shaper and Linear Quadratic Regulator[C]//Proceedings of Ubiquitous Robots and Ambient Intelligence(URAI),2015 12th International Conference on.IEEE,2015:255-260.
[11] SINGLA A,TEWARI A,DASGUPTA B.Vibration Suppression During Input Tracking of a Flexible Manipulator Using a Hybrid Controller[J].Sadhana,2015,40(6):1865-1898.
[12] ABE A,HASHIMOTO K.A Novel Feedforward Control Technique for a Flexible Dual Manipulator[J].Robotics and Computer:Integrated Manufacturing,2015,35:169-177.
[13] 谷勇霞,冯彬,江崔颖,等.考虑关节间隙的空间机械臂臂杆振动特性研究[J].机床与液压,2018,46(5):1-5.GU Y X,FENG B,JIANG C Y,et al.Study on Vibration Characteristics of Space Manipulator with Joint Clearance[J].Machine Tool & Hydraulics,2018,46(5):1-5.
[14] BRAUN G,NISSLER C,KREBS F.Development of a Vision-based 6D Pose Estimation End Effector for Industrial Manipulators in Lightweight Production Environments[C]//Proceedings of Emerging Technologies & Factory Automation(ETFA),2015 IEEE 20th Conference on.IEEE,2015:1-6.
[15] HONARPARDAZ M,TRANGARD A,DERKX J,et al.Benchmark of Advanced Structural Materials for Lightweight Design of Industrial Robots[C]//Proceedings of Industrial Technology(ICIT),2015 IEEE International Conference on.IEEE,2015:3178-3183.
[16] SUN Y,SONG S,LIANG X,et al.A Miniature Soft Robotic Manipulator Based on Novel Fabrication Methods[J].IEEE Robotics and Automation Letters,2016,1(2):617-623.
[17] MACLEOD C N,PIERCE S G,MOROZOV M,et al.Automated Metrology and NDE Measurements for Increased Throughput in Aerospace Component Manufacture[C]//Proceedings of 41st Annual Review of Progress in Quantitative Nondestructive Evaluation:Volume 34.AIP Publishing,2015,1650(1):1958-1966.
[18] YOO S,JUN B H,SHIM H,et al.Design and Analysis of Carbon Fiber Reinforced Plastic Body Frame for Multi-legged Subsea Walking Robot,Crabster[J].Ocean Engineering,2015,102:78-86.
[19] RAMESH R,BALASUBRAMANIAN S,SENTHAMARAIKANNAN C.Study of Free Vibration Characteristics of Carbon Epoxy Based Composite Beams[C]//Proceedings of Applied Mechanics and Materials.Trans Tech Publications, 2015, 813: 1042-1046.
[20] 程卫平.聚丙烯腈基碳纤维在航天领域应用及发展[J].宇航材料工艺,2015(6):11-16.CHENG W P.Development of PAN-Based Carbon Fibers in Aerospace[J].Aerospace Material Technology,2015(6):11-16.
[21] KUROWSKI P.Engineering Analysis with SolidWorks Simulation 2013[M].SDC Publications,2013.