Vibration Damping of Elastic Mechanisms of Multijoint Manipulator by Electric Drive

Abstract

The research results of parametric method of vibrations damping of multijoint manipulators elastic mechanisms by electric drive (ED) are presented. Symbolic expressions are given for determination of rational parameters of speed controller in ED subordinated control system (SCS) minimizing vibrations amplitude of manipulator executive mechanism (EM). A comparison of efficiency of elastic vibrations damping by ED is made for lift of ShBM-150M type manipulator with standard tunings of SCS motor speed controller and recommended parameters.