CAJ | 학술논문

以直线定位平台柔性操作臂为对象，根据能量方法建立了系统的耦合动力学模型，考虑驱动过程中存在的运动波动，对直线定位平台的运动特性进行表征，结合建立的耦合动力学模型，得到柔性操作臂的耦合振动特性。通过理论分析和仿真实验，对不同运动特性下运动波动的扰动激励的作用机理进行研究。结果表明：运动波动对柔性操作臂的振动特性具有明显的影响，对于匀速运动情形，在起始阶段随着速度取值的增大，柔性操作臂的振动幅值有所增大，随着响应时间的增加，影响逐渐减小；对于匀加速运动情形，随着加速度取值的增大，柔性操作臂的振动幅值逐渐减小，且较大的加速度对波动的影响起到一定的抑制作用；理论与实验结果一致，验证了所建模型的正确性。研究结果对柔性操作臂的动态特性分析及振动控制具有一定的指导意义。
이직선정위평태유성조작비위대상，근거능량방법건립료계통적우합동역학모형，고필구동과정중존재적운동파동，대직선정위평태적운동특성진행표정，결합건립적우합동역학모형，득도유성조작비적우합진동특성。통과이론분석화방진실험，대불동운동특성하운동파동적우동격려적작용궤리진행연구。결과표명：운동파동대유성조작비적진동특성구유명현적영향，대우균속운동정형，재기시계단수착속도취치적증대，유성조작비적진동폭치유소증대，수착향응시간적증가，영향축점감소；대우균가속운동정형，수착가속도취치적증대，유성조작비적진동폭치축점감소，차교대적가속도대파동적영향기도일정적억제작용；이론여실험결과일치，험증료소건모형적정학성。연구결과대유성조작비적동태특성분석급진동공제구유일정적지도의의。
The flexible munipulator of a linear positioning platform was taken as a study object.Based on the energy method,the coupled dynamic model of the system was established.Considering motion fluctuations in its driving process,the motion features of the linear positioning platform were described.Subsequently,combining the established coupled dynamic model,the coupled vibration characteristics of the flexible manipulator were derived.The disturbance excitation action mechanisms of different motions'fluctuations were studied through theoretical analysis and simulations. The results indicated that the motion fluctuations have a significant effect on the vibration characteristics of the flexible manipulator;for the constant velocity motion situations,its vibration amplitudes increases with increase in the motion velocity in the initial stage,and with increase in the response time,the effect decreases;for the constant acceleration motion situations,its vibration amplitudes decreases with increase in the motion acceleration,larger accelerations have a certain suppressing action on the effect of the motion fluctuations;the results of theoretical analysis agree well with those of tests,the correctness of the established model here is verified.The study results provided a guidance for the dynamic analysis and vibration control of flexible manipulators.