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首页> 外文期刊>Journal of Mechanical Science and Technology >Approach for a smart device for active vibration suppression as an add-on for robot-based systems
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Approach for a smart device for active vibration suppression as an add-on for robot-based systems

机译：一种用于主动振动抑制的智能设备作为基于机器人的系统的附件的方法

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Robot-based systems are defined by the capabilities of links and joints that form the robot arm, the control including drive engines and the endeffector. In particular, articulated robots have a serial structure. They have to carry the drive engine of each ongoing axis, which results in higher susceptibility to vibration. To compensate weak precision the German Aerospace Center (DLR) integrates a quality improving sensor system on the robot platform. A vibration monitoring system detects vibrations that affect the precision during motion tasks. Currently, higher precision is achieved by slowing down the speed in production. Therefore, a compromise is given between speed and precision. To push the limits for these two conflicting process properties, we propose an approach for an additional smart device to decouple the process-sensitive unit from disturbances arising through motion of the kinematic structure. The smart device enables active vibration suppression by use of a piezo-based actuator with a lever mechanism connected to a motion platform. The lever mechanism provides the required force and displacement adaption. The platform provides mounting and steering of the process-sensitive components. First, an insight into the automation task is given within this paper. Secondly, the system design is illustrated. Based on simulation results the characteristic of the proposed mechanism is shown. Besides the mechanical properties like stiffness and lever amplification, dynamical issues like the smallest eigenfrequency are discussed. To verify simulation results initial measurements are presented and discussed. The paper sums up with the discussion of an implementation of a closed-loop control system to achieve vibration-free and fast motion.
机译：基于机器人的系统由形成机器人手臂的链接和关节的功能定义，控件包括驱动引擎和末端执行器。特别地，多关节机器人具有串行结构。它们必须承载每个进行中的轴的驱动引擎，这导致更高的振动敏感性。为了弥补精度低下的问题，德国航空航天中心（DLR）在机器人平台上集成了质量改进的传感器系统。振动监测系统可检测出影响运动任务精度的振动。当前，通过降低生产速度来实现更高的精度。因此，在速度和精度之间给出了折衷。为了突破这两个相互矛盾的过程属性的限制，我们提出了一种用于其他智能设备的方法，该方法可将过程敏感单元与运动结构运动引起的干扰分离。该智能设备通过使用基于压电的执行器和连接到运动平台的杠杆机构来实现主动振动抑制。杠杆机构可提供所需的力和位移匹配。该平台提供对过程敏感的组件的安装和操纵。首先，本文介绍了自动化任务。其次，说明了系统设计。根据仿真结果，显示了所提出机制的特性。除了诸如刚性和杠杆放大之类的机械特性外，还讨论了诸如最小特征频率之类的动力学问题。为了验证仿真结果，提出并讨论了初始测量。本文总结了实现闭环控制系统以实现无振动和快速运动的讨论。

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