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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Damping and Transfer Control System With Parallel Linkage Mechanism-Based Active Vibration Reducer for Omnidirectional Wheeled Robots
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Damping and Transfer Control System With Parallel Linkage Mechanism-Based Active Vibration Reducer for Omnidirectional Wheeled Robots

机译：基于平行连杆机构的主动减振器阻尼传递控制系统

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摘要

This paper proposes a damping and transfer control system with an active vibration reducer for omnidirectional wheeled robots. The active vibration reducer, which is installed on omnidirectional wheeled robots that use three omni wheels, employs a parallel linkage mechanism and three pneumatic actuators. A spherical pendulum, used as a tentative transfer object, is installed on the endplate of the reducer. The acceleration of the robot is shaped with a notch-filter, and the endplate is controlled by an optimal regulator to damp the swinging of the pendulum generated as the robot moves. The results of experiments conducted in which the robot travelled horizontally along a smooth straight path and a smooth circular path, respectively, and also along a straight path over uneven terrain indicate that the damping performance of the proposed system is effective and satisfactory.
机译：本文提出了一种具有主动减振器的全向轮式机器人的阻尼和传递控制系统。主动减振器安装在使用三个全向轮的全向轮式机器人上，采用并联连杆机构和三个气动执行器。用作摆锤转移对象的球形摆锤安装在减速器的端板上。机器人的加速度具有陷波滤波器的形状，并且端板由最佳调节器控制，以抑制随着机器人移动而产生的摆锤的摆动。实验结果表明，机器人分别在光滑的直线路径和光滑的圆形路径上以及在不平坦的地形上沿着直线路径水平移动，表明所提出的系统的阻尼性能是有效且令人满意的。

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