关键词: 机械手, 柔性, 振动, 阻尼

Abstract: In this paper constrained viscoelastic damping treatments are applied to a planar manipulator as means of damping out the vibration and enhancing system stability. An approach based on finite element method is presented for vibration prediction of the manipulator, and an experimental program is undertaken to investigate the vibration and repeatability of the manipulator.

Key words: 机械手, 柔性, 振动, 阻尼