Dynamics analysis and vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system
文献类型：期刊论文
| 作者 | Shi, Mingming2,3; Rong, Bao1; Liang, Jing4; Zhao, Wenlong3 ; Pan, Hongtao3
|
| 刊名 | NONLINEAR DYNAMICS
 |
| 出版日期 | 2022-11-11 |
| ISSN号 | 0924-090X |
| 关键词 | Spatial rigid-flexible manipulator Joint trajectory optimization RBF interpolation Transfer matrix method |
| DOI | 10.1007/s11071-022-07921-6 |
| 通讯作者 | Shi, Mingming(mmshi@mail.ustc.edu.cn) |
| 英文摘要 | The vibration suppression directly affects the dynamic performance and working accuracy of flexible manipulators, which is one of the important issues in the robotics field. However, most of the relevant literature only studies the vibration suppression of planar flexible manipulators, which is difficult to adapt to more general space motion. This paper proposes a strategy for vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system and RBF interpolation method. Firstly, the dynamics model of the system is constructed using the acceleration transfer matrix strategy, which provides support for vibration control. Secondly, the basic trajectories of the manipulator joints satisfying the boundary conditions are constructed and interpolated using an RBF with infinite smoothness. Based on this, an optimization objective based on the system dynamics model is proposed, which is to minimum the residual vibration of the flexible link. Meanwhile, an optimized hybrid particle swarm optimization algorithm is presented to solve the optimal problem of joint trajectories under minimum residual vibration. Finally, the effectiveness of the proposed dynamics model and trajectory optimization method is verified by numerical simulations. The dynamics modeling method proposed in this paper does not need to derive the global model of the system, which greatly improves the computational efficiency under the premise of ensuring accuracy, while the proposed trajectory optimization method based on RBF interpolation can be effective in reducing the system residual vibration on the basis of ensuring the infinite continuous smoothness of the optimized trajectory; meanwhile, the method does not need to measure the vibration with additional sensors, which effectively reduces the economic cost and has high practical value. |
| WOS关键词 | PARALLEL MANIPULATOR ; PARTICLE SWARM ; CONTROL DESIGN ; HIGH-SPEED |
| 资助项目 | Comprehensive Research Facility for Fusion Technology Program of China[2018-000052-73-01-001228] ; National Natural Science Foundation of China[11905147] |
| WOS研究方向 | Engineering ; Mechanics |
| 语种 | 英语 |
| 出版者 | SPRINGER |
| WOS记录号 | WOS:000881901400003 |
| 资助机构 | Comprehensive Research Facility for Fusion Technology Program of China ; National Natural Science Foundation of China |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/130389]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Shi, Mingming |
| 作者单位 | 1.Nanjing Univ Sci & Technol, Inst Launch Dynam, Nanjing 210094, Peoples R China 2.Univ Sci & Technol China, Hefei 230026, Peoples R China 3.Chinese Acad Sci, Inst Plasma Phys, Hefei Inst Phys Sci, Hefei 230031, Peoples R China 4.Anhui Agr Univ, Sch Engn, Hefei 230036, Peoples R China |
| 推荐引用方式 GB/T 7714 | Shi, Mingming,Rong, Bao,Liang, Jing,et al. Dynamics analysis and vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system[J]. NONLINEAR DYNAMICS,2022. |
| APA | Shi, Mingming,Rong, Bao,Liang, Jing,Zhao, Wenlong,&Pan, Hongtao.(2022).Dynamics analysis and vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system.NONLINEAR DYNAMICS. |
| MLA | Shi, Mingming,et al."Dynamics analysis and vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system".NONLINEAR DYNAMICS (2022). |
入库方式： OAI收割
来源：合肥物质科学研究院
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