组合柔性机械臂抑振性能研究

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将柔性机械臂做成组合结构，利用接触面间的摩擦效应消耗能量以达到抑制柔性机械臂振动的目的。以直波纹板作为组合柔性机械臂的叠层，采用有限元软件ANSYS对组合柔性机械臂进行静态和动态仿真。用能量耗散率作为组合柔性机械臂迟滞性能评定指标。研究结果表明：与直板作为叠层的组合柔性机械臂相比，用波纹板作为叠层的组合机械臂可以用较少的材料获得较好的抑振性能；选择合适的预紧力和结构尺寸参数可得到最佳的抑振性能。 In order to restrain the vibration of flexible manipulator, friction damping of assembled flexible link can be used to restrain the vibration of flexible manipulator. The corrugated board was laminated to form the master beam, and the ANSYS was used to make static and dynamic analyses on assembled flexible link. Energy dissipation rate was used as the evaluation index of hysteresis properties. The results show that： comparing with flat board, the corrugated board has larger stiffness and better effect on restraining vibration with fewer materials. The best restraining vibration performance can be gained by selecting appropriate pre-tightening force and structural parameters.