摘要
本文对一实验用柔性机械手进行了粘弹性约束阻尼处理,以减少柔性振动,改善控制系统的稳定性,提高定位精度.文中给出了测量机械手柔性振动的实验方法,对约束阻尼处理前和处理后的机械手进行了柔性振动、残余振动、重复定位精度等实验研究,并做了比较.
In this paper constrained viscoelastic layer damping treatments are applied to a planar manipulator whichwas built as an experimental research device for work in dynamics and control development,as a means ofdamping out the vibration and enhancing system stability.An experimental method is proposed and undertak-en to investigate flexible vibration,residual vibration,and repeatability of the manipulator with viscoelasticdamping.These experimental data are then compared with the results of the original manipulator.
出处
《机器人》
EI
CSCD
北大核心
1992年第3期1-4,共4页
Robot
关键词
柔性机械手
粘弹性阻尼
振动控制
flexible manipulator
viscoelastic damping
vibration control
