本文選題：空間柔性機(jī)械臂　切入點(diǎn)：振動(dòng)抑制　出處：《哈爾濱工業(yè)大學(xué)》2015年碩士論文

【摘要】：空間機(jī)械臂有質(zhì)量輕、耗能低、空間作業(yè)適應(yīng)性強(qiáng)等諸多優(yōu)勢(shì),在空間操控技術(shù)中的應(yīng)用越來(lái)越多�？臻g機(jī)械臂通常情況下為長(zhǎng)直桿構(gòu)型,有跨度較大、直徑小、質(zhì)量輕并且整體剛度小的特點(diǎn)。其柔性在進(jìn)行動(dòng)力學(xué)建模與控制過(guò)程中不可忽略,柔性結(jié)構(gòu)引起的振動(dòng)問(wèn)題會(huì)降低自身的運(yùn)動(dòng)與操作精度,嚴(yán)重的還可能導(dǎo)致空間機(jī)械臂失穩(wěn)或破壞。因此,為保證實(shí)現(xiàn)空間操控任務(wù)的高精度和高可靠性,深入研究空間柔性機(jī)械臂的振動(dòng)抑制方法十分必要。本文研究了三種針對(duì)空間柔性機(jī)械臂振動(dòng)抑制的基本方法:被動(dòng)振動(dòng)抑制方法、主動(dòng)振動(dòng)抑制方法以及主被動(dòng)混合式振動(dòng)抑制方法。被動(dòng)方法以約束阻尼材料為基礎(chǔ),對(duì)其振動(dòng)抑制的原理,模型的假設(shè)和建立,運(yùn)動(dòng)學(xué)方程和動(dòng)力學(xué)方程的推導(dǎo)以及振動(dòng)仿真分析進(jìn)行著重闡述,研究了阻尼層厚度對(duì)振動(dòng)抑制效果的影響;主動(dòng)方法以壓電材料為基礎(chǔ),對(duì)其工作原理、模型建立以及仿真分析進(jìn)行了詳盡的論述,同時(shí),對(duì)比了主動(dòng)方法與被動(dòng)方法在振動(dòng)抑制效果上的差別;最后,將主動(dòng)方法以及被動(dòng)方法結(jié)合起來(lái),形成主被動(dòng)混合式的振動(dòng)抑制方法,其中,被動(dòng)部分選取最優(yōu)構(gòu)型,將混合式方法的振動(dòng)仿真效果與前面兩種方法進(jìn)行對(duì)比,得到三種方法最終的振動(dòng)抑制效果孰優(yōu)孰劣。
[Abstract]:Space manipulator has many advantages, such as light weight, low energy consumption, strong adaptability to space operation and so on.The space manipulator is usually a long straight bar configuration, which has the characteristics of large span, small diameter, light weight and low overall stiffness.Its flexibility can not be ignored in the process of dynamic modeling and control. The vibration problem caused by flexible structure will reduce its own motion and operation precision, and may lead to instability or failure of space manipulator seriously.Therefore, it is necessary to study the vibration suppression method of space flexible manipulator in order to achieve high precision and high reliability.In this paper, three basic methods for vibration suppression of space flexible manipulator are studied: passive vibration suppression method, active vibration suppression method and active and passive hybrid vibration suppression method.The passive method is based on constrained damping material. The principle of vibration suppression, the hypothesis and establishment of model, the derivation of kinematics equation and dynamic equation, and the analysis of vibration simulation are emphasized.The influence of damping layer thickness on vibration suppression effect is studied, the active method is based on piezoelectric material, its working principle, model establishment and simulation analysis are discussed in detail, at the same time,The difference between the active method and the passive method in vibration suppression is compared. Finally, the active method and the passive method are combined to form the active and passive hybrid vibration suppression method, in which the passive part selects the optimal configuration.The vibration simulation results of the hybrid method are compared with those of the former two methods, and the results of the three methods are compared.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TP241;V414

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本文編號(hào)：1695389