Vibration Suppression Method of a Hydraulic Flexible Manipulator based on the System of Piezoelectric Feedback Driven
In order to suppress the vibration in the end of large double-link hydraulic flexible manipulator,taking the heavy load hydraulic flexible mechanical arm as the study object and aiming at the end of arm movement in the process of vibration phenomenon,by the servo-hydraulic system-Euler Bernoulli mod...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.06.002 |
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| author | Luo Tianhong Miao Changbin Xu Xiangyang Ma Xiangyu Li Fuying |
| author_facet | Luo Tianhong Miao Changbin Xu Xiangyang Ma Xiangyu Li Fuying |
| author_sort | Luo Tianhong |
| collection | DOAJ |
| description | In order to suppress the vibration in the end of large double-link hydraulic flexible manipulator,taking the heavy load hydraulic flexible mechanical arm as the study object and aiming at the end of arm movement in the process of vibration phenomenon,by the servo-hydraulic system-Euler Bernoulli model,Lagrange equation and Jacobian matrix,a piezoelectric feedback driven system control method is designed,through the end of the robot arm equipped with sensitive piezoelectric transmitter,piezoelectric actuators and inversion control design methods,the movement of servo hydraulic cylinder vibration,the hydraulic cylinder with manipulator friction and manipulator rod elastic vibration influence of the hydraulic flexible manipulator end vibration are studied. The simulation results show that,the vibration suppression method for better stability control,the end vibration of hydraulic flexible manipulator can be significantly reduced,the vibration attenuation time is shortened,the positioning precision can be improved obviously. |
| format | Article |
| id | doaj-art-ebce0cae57d243dbaabb73f718812d7c |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-ebce0cae57d243dbaabb73f718812d7c2025-01-10T14:16:57ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-014061129924158Vibration Suppression Method of a Hydraulic Flexible Manipulator based on the System of Piezoelectric Feedback DrivenLuo TianhongMiao ChangbinXu XiangyangMa XiangyuLi FuyingIn order to suppress the vibration in the end of large double-link hydraulic flexible manipulator,taking the heavy load hydraulic flexible mechanical arm as the study object and aiming at the end of arm movement in the process of vibration phenomenon,by the servo-hydraulic system-Euler Bernoulli model,Lagrange equation and Jacobian matrix,a piezoelectric feedback driven system control method is designed,through the end of the robot arm equipped with sensitive piezoelectric transmitter,piezoelectric actuators and inversion control design methods,the movement of servo hydraulic cylinder vibration,the hydraulic cylinder with manipulator friction and manipulator rod elastic vibration influence of the hydraulic flexible manipulator end vibration are studied. The simulation results show that,the vibration suppression method for better stability control,the end vibration of hydraulic flexible manipulator can be significantly reduced,the vibration attenuation time is shortened,the positioning precision can be improved obviously.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.06.002Hydraulic flexible manipulatorPiezoelectric feedback driven systemInversion control design methodsPPF control algorithm |
| spellingShingle | Luo Tianhong Miao Changbin Xu Xiangyang Ma Xiangyu Li Fuying Vibration Suppression Method of a Hydraulic Flexible Manipulator based on the System of Piezoelectric Feedback Driven Jixie chuandong Hydraulic flexible manipulator Piezoelectric feedback driven system Inversion control design methods PPF control algorithm |
| title | Vibration Suppression Method of a Hydraulic Flexible Manipulator based on the System of Piezoelectric Feedback Driven |
| title_full | Vibration Suppression Method of a Hydraulic Flexible Manipulator based on the System of Piezoelectric Feedback Driven |
| title_fullStr | Vibration Suppression Method of a Hydraulic Flexible Manipulator based on the System of Piezoelectric Feedback Driven |
| title_full_unstemmed | Vibration Suppression Method of a Hydraulic Flexible Manipulator based on the System of Piezoelectric Feedback Driven |
| title_short | Vibration Suppression Method of a Hydraulic Flexible Manipulator based on the System of Piezoelectric Feedback Driven |
| title_sort | vibration suppression method of a hydraulic flexible manipulator based on the system of piezoelectric feedback driven |
| topic | Hydraulic flexible manipulator Piezoelectric feedback driven system Inversion control design methods PPF control algorithm |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.06.002 |
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