• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (21): 40-50.doi: 10.3901/JME.2019.21.040

• 机构学及机器人 • 上一篇    下一篇

基于加速度反馈的平面3-RRR柔性并联机器人自激振动控制

余龙焕, 邱志成, 张宪民   

  1. 华南理工大学广东省精密装备与制造技术重点实验室 广州 510641
  • 收稿日期:2018-12-10 修回日期:2019-07-11 出版日期:2019-11-05 发布日期:2020-01-08
  • 通讯作者: 张宪民(通信作者),男,1964年出生,博士,教授,博士研究生导师。主要研究方向为精密定位与精密操作、精密电子装备与现代控制技术、精密并联机器人系统、机电系统的振动与噪声控制等。E-mail:zhangxm@scut.edu.cn
  • 作者简介:余龙焕,男,1994年出生。主要研究方向为并联机器人振动控制。E-mail:hans_longhuan@163.com;邱志成,男,1973年出生,教授,博士研究生导师。主要从事柔性结构的振动主动控制、机器人控制等方面的研究工作。E-mail:zhchqiu@scut.edu.cn
  • 基金资助:
    国家自然科学基金(U1501247,51775190)和广东省自然科学基金(S2013030013355)资助项目。

Self-excited Vibration Control of the Planar 3-RRR Flexible Parallel Manipulator Based on Acceleration Feedback

YU Longhuan, QIU Zhicheng, ZHANG Xianmin   

  1. Guangdong Province Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou 510641
  • Received:2018-12-10 Revised:2019-07-11 Online:2019-11-05 Published:2020-01-08

摘要: 平面3-RRR柔性并联机器人在精密定位、物料搬运、宏微结合等领域有着广泛应用,其在运行到某些区域时容易产生自激振动,这极大地影响了系统的精度和稳定性。为了有效抑制并联机器人的自激振动,在并联机器人试验平台上搭建了振动加速度测量系统,利用加速度传感器和伺服电动机实现闭环反馈以及自激振动主动控制。对平面3-RRR柔性并联机器人特定奇异位置自激振动的机理进行分析,考虑加速度信号滤波以及信号传输和处理等因素引起的相位滞后,采用移相技术,给出了基于加速度反馈的控制算法,对平面3-RRR柔性并联机器人的自激振动进行了主动控制试验研究。理论和试验结果表明:提出的基于加速度反馈的主动控制方法能够在奇异位置处有效抑制并联机器人的自激振动。

关键词: 3-RRR, 并联机器人, 自激振动, 主动控制, 加速度反馈

Abstract: Planar 3-RRR flexible parallel manipulator is widely used in the precision positioning, material handling, macro-micro combination and other fields. It is easy to generate self-excited vibration when running to some areas, which greatly affects the accuracy and stability of the system. In order to effectively suppress the self-excited vibration of parallel manipulator, the measurement system of the vibration acceleration is built on the parallel manipulator experimental platform, and the closed-loop feedback and self-excited vibration active control are achieved by acceleration sensor and servo motor. The mechanism of the specific singular position of the planar 3-RRR flexible parallel manipulator is analyzed. Considering the phase lag caused by the filtering and the transmission and processing of the acceleration signal, the technique of the phase shifting is adopted and the control algorithm based on acceleration feedback is given. The active control experimental research of the self-excited vibration of planar 3-RRR flexible parallel manipulator is developed. The theoretical and experimental results show that the proposed active control method based on acceleration feedback can effectively suppress the self-excited vibration of parallel robots at singular positions.

Key words: 3-RRR, flexible parallel manipulator, self-excited, active control, acceleration feedback

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