【摘要】 建立了一套柔性机械臂振动控制实验系统,该系统主要由直流伺服电机、柔性机械臂结构和支应组成。伺服控制系统由位置反馈环、速度反馈环和电流反馈环三环组成、采用光电编码器作为检测元件。对柔性臂的动力学性能进行了测试研究。建立了计及变形约束的柔性臂动力学模型,仿真与实验结果基本吻合。更多还原

【Abstract】 The experimental system of a single link flexible manipulator has been made, which mainly consists of one DC motor, one flexible link and die base. The servo-controlled system is composed of a electric current feedback loop . a velocity feedback loop and a position feedback loop with a high precise optical encorder. Dynamic performances for large flexible manipulators has been studied by using the experimental system. The dynamic equations of flexible manipulators have been developed in consideration of deformation constraints, and the simulation results hasprovcd the experiments.更多还原