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首页> 外文期刊>Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods >Shaking force minimization of high-speed robots via centre of mass acceleration control
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Shaking force minimization of high-speed robots via centre of mass acceleration control

机译：通过质心加速度控制将高速机器人的振力最小化

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This paper deals with the problem of shaking force balancing of high-speed manipulators. The known solutions of this problem are carried out by an optimal redistribution of moving masses which allows the cancellation or the reduction of the variable loads on the manipulator frame. In this paper an innovative solution is developed which is based on the optimal control of the robot links centre of masses. Such a solution allows the reduction of the acceleration of the total mass centre of moving links and, consequently, the considerable reduction in the shaking forces. The efficiency of the suggested method is illustrated by the numerical simulations carried out for different trajectories: for examined planar two and three link serial manipulators the shaking force reduction reaches up to 77%. This approach is also a more appealing alternative to conventional balancing methods because it allows the reduction of the shaking force without counterweights. As a result, the input torques are also decreased, which is shown using dynamic simulation software.
机译：本文讨论了高速机械手的摇振力平衡问题。该问题的已知解决方案是通过最佳地重新分配运动质量来实现的，该重新分配允许取消或减少机械手框架上的可变负载。在本文中，开发了一种创新的解决方案，该解决方案基于对机器人链接质量中心的最佳控制。这种解决方案允许减小运动的链节的总质量中心的加速度，并且因此可以显着减小摇动力。通过对不同轨迹进行的数值模拟说明了所建议方法的效率：对于检查的平面两连杆和三连杆串联机械手，摇动力降低可达77％。该方法还是常规平衡方法的一种更有吸引力的替代方法，因为它可以在没有配重的情况下减小摇动力。结果，输入扭矩也减小了，这使用动态仿真软件来显示。

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