Vibration Behaviour Analysis and Vibration Suppression Studies of the Space Robot
Aiming at the problem that the vibration of space robot will reduce the dynamic accuracy of robot, a method of vibration suppression of space robot through trajectory planning is proposed. First, the joint was simplified to a linear torsion spring, and the flexible rod was modelled using the finite...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2022-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2022/3641051 |
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| _version_ | 1832548831915409408 |
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| author | Tian Yong Yue Xiang Feng Yan Jiang Binzhang |
| author_facet | Tian Yong Yue Xiang Feng Yan Jiang Binzhang |
| author_sort | Tian Yong |
| collection | DOAJ |
| description | Aiming at the problem that the vibration of space robot will reduce the dynamic accuracy of robot, a method of vibration suppression of space robot through trajectory planning is proposed. First, the joint was simplified to a linear torsion spring, and the flexible rod was modelled using the finite element method, resulting in a flexible motion model of the robot. Then, a rigid-soft coupled dynamic model that combined the flexible motion model with the Lagrange method was established. Using the dynamic model, the factors influencing the vibration behaviour of space robots were analysed. Finally, the space robot was subjected to vibration suppression through trajectory planning. As verified by experimental analysis, different trajectories and loads affect the excitation force and inherent characteristics of the robot. In the design process, it is necessary to consider the relationship between the excitation force and natural frequency. The trajectory planning method has apparent effects on vibration suppression. The vibration amplitude was significantly reduced, which can improve the positioning accuracy and work efficiency of the robot. |
| format | Article |
| id | doaj-art-8f063d55081b4989a3df22f7f00e3fbb |
| institution | Kabale University |
| issn | 1687-5974 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-8f063d55081b4989a3df22f7f00e3fbb2025-02-03T06:12:57ZengWileyInternational Journal of Aerospace Engineering1687-59742022-01-01202210.1155/2022/3641051Vibration Behaviour Analysis and Vibration Suppression Studies of the Space RobotTian Yong0Yue Xiang1Feng Yan2Jiang Binzhang3College of Mechanical Electrical and Vehicle EngineeringCollege of EngineeringCollege of EngineeringCollege of EngineeringAiming at the problem that the vibration of space robot will reduce the dynamic accuracy of robot, a method of vibration suppression of space robot through trajectory planning is proposed. First, the joint was simplified to a linear torsion spring, and the flexible rod was modelled using the finite element method, resulting in a flexible motion model of the robot. Then, a rigid-soft coupled dynamic model that combined the flexible motion model with the Lagrange method was established. Using the dynamic model, the factors influencing the vibration behaviour of space robots were analysed. Finally, the space robot was subjected to vibration suppression through trajectory planning. As verified by experimental analysis, different trajectories and loads affect the excitation force and inherent characteristics of the robot. In the design process, it is necessary to consider the relationship between the excitation force and natural frequency. The trajectory planning method has apparent effects on vibration suppression. The vibration amplitude was significantly reduced, which can improve the positioning accuracy and work efficiency of the robot.http://dx.doi.org/10.1155/2022/3641051 |
| spellingShingle | Tian Yong Yue Xiang Feng Yan Jiang Binzhang Vibration Behaviour Analysis and Vibration Suppression Studies of the Space Robot International Journal of Aerospace Engineering |
| title | Vibration Behaviour Analysis and Vibration Suppression Studies of the Space Robot |
| title_full | Vibration Behaviour Analysis and Vibration Suppression Studies of the Space Robot |
| title_fullStr | Vibration Behaviour Analysis and Vibration Suppression Studies of the Space Robot |
| title_full_unstemmed | Vibration Behaviour Analysis and Vibration Suppression Studies of the Space Robot |
| title_short | Vibration Behaviour Analysis and Vibration Suppression Studies of the Space Robot |
| title_sort | vibration behaviour analysis and vibration suppression studies of the space robot |
| url | http://dx.doi.org/10.1155/2022/3641051 |
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