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三自由度柔性并联机器人机构残余振动抑制研究。

Study on Residual Vibration Suppress of a 3-DOF Flexible Parallel Robot Mechanism.

机构信息

Department of Mechatronics, Foshan University, Foshan 528000, China.

Key Laboratory of Precision Equipment and Manufacturing Technology of Guangdong Province, South China University of Technology, Guangzhou 510641, China.

出版信息

Sensors (Basel). 2018 Nov 26;18(12):4145. doi: 10.3390/s18124145.

DOI:10.3390/s18124145
PMID:30486304
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC6308442/
Abstract

Residual vibration suppression of a 3-DOF flexible parallel robot mechanism is implemented in this paper. Considering the direct and inverse piezoelectric effect of PZT (lead zirconium titanate) material, a general motion equation is established which includes an input equation of PZT actuators and an output equation of PZT sensors. A strain and strain rate feedback (SSRF) controller is designed based on the established general motion equation. A numerical simulation is implemented to verify the effectiveness of the SSRF controller in driving the proposed robotic mechanism. The simulation results reveal that the SSRF controller can decrease the elastic vibration displacement of the flexible links rapidly and improve the position accuracy of the moving platform. In the experimental study, one scheme with three passive flexible links is controlled by the SSRF controller at the same time as the performance of the introduced solutions. The experimental results show that the strain and strain rate feedback controller is able to effectively suppress the residual vibration of the 3-DOF flexible parallel robot mechanism. The results of the numerical simulation and experiment are completely consistent.

摘要

本文针对 3-DOF 柔性并联机器人机构的残余振动抑制问题展开研究。考虑到 PZT（锆钛酸铅）材料的正、逆压电效应，建立了包含 PZT 作动器输入方程和 PZT 传感器输出方程的通用运动方程。基于建立的通用运动方程，设计了应变和应变速率反馈（SSRF）控制器。通过数值仿真验证了 SSRF 控制器驱动所提出的机器人机构的有效性。仿真结果表明，SSRF 控制器可以快速减小柔性连杆的弹性振动位移，提高动平台的位置精度。在实验研究中，同时采用 SSRF 控制器对具有三个被动柔性连杆的方案进行控制，并与所提出的解决方案的性能进行比较。实验结果表明，应变和应变速率反馈控制器能够有效地抑制 3-DOF 柔性并联机器人机构的残余振动。数值仿真和实验结果完全一致。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/37e7cb1455ee/sensors-18-04145-g019.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/2fc57d2fec29/sensors-18-04145-g001.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/0bfe82dc9612/sensors-18-04145-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/cf761717a81d/sensors-18-04145-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/4409e0034928/sensors-18-04145-g011.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/c7cc2f1d49b9/sensors-18-04145-g018.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/37e7cb1455ee/sensors-18-04145-g019.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/2fc57d2fec29/sensors-18-04145-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/3cad952fd4c2/sensors-18-04145-g002.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/20ff714c0562/sensors-18-04145-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/cdf6128c124a/sensors-18-04145-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/1e6bef716df4/sensors-18-04145-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/0bfe82dc9612/sensors-18-04145-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/cf761717a81d/sensors-18-04145-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/4409e0034928/sensors-18-04145-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/0b46e50f4e0c/sensors-18-04145-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/5675d1ead977/sensors-18-04145-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/3990c91ab6e2/sensors-18-04145-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/76005bd2e104/sensors-18-04145-g015.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/e2b2b1777b75/sensors-18-04145-g016.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/72229493654d/sensors-18-04145-g017.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/c7cc2f1d49b9/sensors-18-04145-g018.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3204/6308442/37e7cb1455ee/sensors-18-04145-g019.jpg

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