Abstract Effect of joint flexibility on vibration characteristics of a composite box manipulator
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Effect of joint flexibility on vibration characteristics of a composite box manipulator

机译：关节柔韧性对复合盒机械手振动特性的影响

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摘要

AbstractFlexibility of links and joints affects dynamic behavior of manipulators. In this work, the vibration characteristics of a one-link carbon-fiber box manipulator with a rectangular cross-section and a [0/90/0/90] lay-up are studied to examine the effects of the link and joint flexibility. The theoretical results supported with experimental studies are presented to realize the mentioned examinations. An experimental system, which consists of a composite box manipulator driven by a geared servo motor and a wireless measurement system, is introduced. Some parameters of the driver are manually set in the experiments. Vibration tests of the composite manipulator are realized for the stationary and nonstationary cases. Experimental vibration responses are both evaluated for auto and manual tune modes of the servo driver. Theoretical results obtained via the finite element vibration analysis compared with the experimental results. The changes of the natural frequencies and damping properties are presented for the stationary and nonstationary cases. The experimental vibration responses of the composite box manipulator with various payloads match well with the theoretical ones by tuning servo motor parameters manually.
机译： 摘要 链接和关节的柔韧性会影响操纵器的动态行为。在这项工作中，研究了具有矩形横截面和[0/90/0/90]叠层的单连杆碳纤维箱式机械手的振动特性，以检验连杆和接头柔性的影响。提出了实验研究支持的理论结果，以实现上述考试。介绍了一个实验系统，该系统由一个由齿轮伺服电机驱动的复合盒机械手和一个无线测量系统组成。在实验中手动设置驱动程序的某些参数。在固定和非固定情况下都可以进行复合机械手的振动测试。针对伺服驱动器的自动和手动调谐模式，均评估了实验振动响应。通过有限元振动分析获得的理论结果与实验结果进行了比较。给出了固定和非固定情况下固有频率和阻尼特性的变化。通过手动调节伺服电机参数，具有多种有效载荷的复合箱式机械手的实验振动响应与理论振动响应非常吻合。

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  • 来源
    《Composite Structures》 |2018年第1期|271-277|共7页
  • 作者

    L. Malgaca; H. Doğan; M. Akdağ; Ş. Yavuz; M. Uyar; B. Bidikli;

  • 作者单位

    Department of Mechanical Engineering, Dokuz Eylul University;

    Department of Mechanical Engineering, The Graduate School of Natural and Applied Sciences, Dokuz Eylul University;

    Department of Mechanical Engineering, Dokuz Eylul University;

    Department of Mechanical Engineering, Dokuz Eylul University;

    Department of Mechanical Engineering, The Graduate School of Natural and Applied Sciences, Dokuz Eylul University;

    Department of Mechatronics Engineering, İzmir Katip Çelebi University;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Composite box manipulator; Vibration; Joint flexibility; Servo tuning;

    机译：复合箱式机械手;振动;联合灵活性;伺服调整;

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