[1]张发军,张烽,宋钰青,等.铰碰与臂重激振下串联机械臂参数的抑振优化[J].哈尔滨工程大学学报,2019,40(05):1000-1005.[doi:10.11990/jheu.201711117]
 ZHANG Fajun,ZHANG Feng,SONG Yuqing,et al.Parameters optimization based on vibration suppression of manipulator undergoing internal collision of hinges and heavy vibration of arms[J].hebgcdxxb,2019,40(05):1000-1005.[doi:10.11990/jheu.201711117]
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铰碰与臂重激振下串联机械臂参数的抑振优化(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
40
期数:
2019年05期
页码:
1000-1005
栏目:
出版日期:
2019-05-05

文章信息/Info

Title:
Parameters optimization based on vibration suppression of manipulator undergoing internal collision of hinges and heavy vibration of arms
作者:
张发军12 张烽1 宋钰青1 邓安禄1 杨晶晶1 杨先威1
1. 三峡大学 机械与动力学院, 湖北 宜昌 443002;
2. 水电机械设备设计与维护湖北省重点实验室, 湖北 宜昌 443002
Author(s):
ZHANG Fajun12 ZHANG Feng1 SONG Yuqing1 DENG Anlu1 YANG Jingjing1 YANG Xianwei1
1. College of Mechanical & Power, Three Gorges University, Yichang 443002, China;
2. Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance, Yichang 443002, China
关键词:
机械臂铰碰铰关节铰间隙参数优化关节精度杆件质量抑振
分类号:
TP242.2
DOI:
10.11990/jheu.201711117
文献标志码:
A
摘要:
针对含间隙机械臂关节铰内碰导致恶化机械臂动力学行为的问题,本文探讨了串联机械臂在铰碰与重力双重耦合作用下的振动特征。以含间隙串联机械臂为研究对象,利用运动学方程以及达朗贝尔原理推导含间隙机械臂的动力学方程,根据所得方程揭示机械臂关节处精度(间隙大小)以及各杆件质量对动力学行为的影响规律。基于铰间隙处于串联机械臂不同关节位置的情况,分析杆件质量对机械臂动力学行为的响应特征,并在此基础上提出一种优化后的多间隙机械臂模型。研究结果表明:通过对机械臂各关节处设计间隙精度的调整以及各杆件质量分布的动态优化,线性加速度与角加速度冲击最大降幅39.80%和30.44%,对多铰间隙机械臂的动态作业具有明显的抑振效果。

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备注/Memo

备注/Memo:
收稿日期:2017-11-30。
基金项目:国家自然科学基金项目(51775307);水电机械设备设计与维护湖北省重点实验室开放基金项目(2017KJX07);三峡大学硕士学位论文培优基金项目(2017YPY027).
作者简介:张发军,男,教授.
通讯作者:张发军,E-mail:doctorzyy@126.com
更新日期/Last Update: 2019-05-14