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首页> 外文期刊>JSME International Journal. Series C, Mechanical Systems, Machine Elements and Manufacturing >Inertial Vibration Damping of a Flexible Base Manipulator
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Inertial Vibration Damping of a Flexible Base Manipulator

机译：柔性基础机械臂的惯性振动阻尼

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摘要

A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the ma-cromanipulator can make it susceptible to vibration. A rigid manipulator attached to a flexible but unactuated base was used to study a scheme to achieve positioning of the micromanipulator combined with enhanced vibration damping of the base. The interaction forces and torques acting between the robot and its flexible base were modeled and studied. Simulated and measured interactions generated at the base of a three degree of freedom rigid robot are compared. Simulated, and experimental results are included that demonstrate with the proper control of these interactions, damping can be added to the base.
机译：通常将刚性（微型）机器人串行安装在长的，灵活的（宏）机械手的末端，以提高触及能力，但是宏型机械手的灵活性会使它容易受到振动的影响。刚性操纵器连接到一个灵活但未操纵的基座上，用于研究一种方案，实现微操纵器的定位，同时增强基座的振动阻尼。对机器人与其柔性基座之间的相互作用力和转矩进行了建模和研究。比较了在三自由度刚性机器人的基础上生成的模拟和测量的交互。包括模拟和实验结果，这些结果证明了对这些相互作用的适当控制，可以为基础添加阻尼。

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