将柔性机械臂做成组合结构,利用接触面间的摩擦效应消耗能量以达到抑制柔性机械臂振动的目的.将组合柔性机械臂做成圆形截面,具有各向同性的特点,在任意方向都有抑制振动的效果.利用ANSYS有限元软件对组合柔性机械臂进行建模和仿真.仿真结果表明:将直波纹管做成叠层的组合柔性臂也有很好的抑振性能.%In order to restrain the vibration of flexible manipulator, friction damping of assembled flexible link can be used to restrain its vibration. The flexible link is made in to circular cross-section with isotropic effect of vibration suppression. In this paper, ANSYS is used to simulate the motion of flexible link. The result of simulation shows that the laminated flexible link made of bellows also has good effect of the vibration suppression.
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