| 摘要:柔性机器人因其轻质、高效、低能耗等优点已被广泛应用于航空航天，工业制造等诸多领域。然而，柔性机构易产生弯曲变形，引起系统振动而大大降低机器人的工作精度。为提高柔性机器人的工作性能，多种抑振策略得以研究与应用。本文提出了基于压电陶瓷(PZT)的柔性机器人振动主动抑制策略。其中，PZT传感器和PZT制动器分别被用来检测和抑制柔性臂的振动。本文构建了基于PZT材料的单自由度柔性机械臂的理论模型，并获得了传感电压与制动电压的传递函数。设计了一个可变控制方案的抑振器以抑制系统在不同频率下的振动。在COMSOL中进行仿真，获得了系统的抑振率。根据仿真结果显示，柔性臂在前三阶振动下，臂的末端位移分别得到了57.04%，57.76%与58.96%的抑制；系统的动能得到了57.95%，71.19%与87.81%的抑制。 |
| 关键词: 柔性机器人 压电片 主动振动抑制 传递函数 |
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| Active Vibration Control of a Flexible Manipulator Using Piezoelectric Patches |
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| Abstract:Flexible manipulators have been widely used because of its light weight, low power consumption and high efficient. However, lightweight structures result in unwanted vibration, which pose system into a low working accuracy. Suppression methods are used to improve performance of the flexible manipulators. An active control method based on PZT patches for flexible manipulator was proposed in this paper. A PZT sensor was used to detect the vibration. Meanwhile, a PZT actuator was used to suppress the vibration. A theoretical model of single freedom flexible manipulator with PZT patches was set up. The transfer function of the sensor voltage and actuator voltage was obtained. A changeable controller was designed to suppress the vibration at different frequencies. The vibration suppression efficiency of the above system was numerical simulated in COMSOL. Some conclusions can be obtained based on simulation results, such as 57.04%, 57.76% and 58.96% reduction of the tip displacement of the beam, 57.95%, 71.19% and 87.81% suppression of total kinetic energy of the system can be realized at the three different frequencies respectively. |
| Key words: flexible manipulator piezoelectric patches active vibration control transfer function |