惯性作动器在单连杆机械臂振动抑制中的作用

Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration Pub Date : 1991-11-18 DOI:10.1109/IRSSE.1991.658940

R. Montgomery

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引用次数: 1

摘要

并进行了仿真研究，以确定惯性致动器的作用，包括扭矩轮致动器和线性、证明质量致动器，在抑制单连杆遥控机器人手臂振动方面的作用。研究了阻止手臂运动的任务。我们的目标是在拦阻手臂时保持0.7的阻尼。将该系统与仅使用轮毂电机的设计进行了比较。相比之下，惯性组件使轮毂电机的峰值扭矩减少了45%，以实现相同的拦阻运动特性。本文给出了分析结果

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On the Role of Inertial Actuators in Suppressing the Vibrations of a One-Link Robot Arm

and simulation studies to determine the role of inertial actuators, both torque-wheel actuators and linear, proof-mass actuators, in suppressing the vibrations of a one-link telerobotic arm. The task of arresting the motion of the arm was studied. The goal was to maintain a .7 damping in arresting the arm. The system is compared with a design using only a hub-motor. comparison, the inertial components enable a reduction of peak torque of the hub motor of 45 percent to accomplish the same arresting motion characteristics. This paper presents results of analytic

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Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration

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