{"title":"电驱动多关节机械臂弹性机构的减振研究","authors":"G. Pyatibratov, L. Altunyan, A. Danshina","doi":"10.1109/ICEPDS47235.2020.9249364","DOIUrl":null,"url":null,"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.","PeriodicalId":115427,"journal":{"name":"2020 XI International Conference on Electrical Power Drive Systems (ICEPDS)","volume":"51 4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Vibration Damping of Elastic Mechanisms of Multijoint Manipulator by Electric Drive\",\"authors\":\"G. Pyatibratov, L. Altunyan, A. Danshina\",\"doi\":\"10.1109/ICEPDS47235.2020.9249364\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":115427,\"journal\":{\"name\":\"2020 XI International Conference on Electrical Power Drive Systems (ICEPDS)\",\"volume\":\"51 4 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-10-04\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 XI International Conference on Electrical Power Drive Systems (ICEPDS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICEPDS47235.2020.9249364\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 XI International Conference on Electrical Power Drive Systems (ICEPDS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICEPDS47235.2020.9249364","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Vibration Damping of Elastic Mechanisms of Multijoint Manipulator by Electric Drive
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.
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