基于刚柔-机电耦合的主动约束层阻尼柔性机器人动力学建模与振动控制研究

Vibration problems exist widely in the field of robotics due to the structural flexibility of flexible robots when they perform tasks. This project focuses on the research of dynamic modeling theories and vibration control for flexible robots treated with ACLD (active constrained layer damping) based on rigid-flexible and piezoelectric-mechanical coupling theories by using the methodology of ACLD. The research of the project will be done on the following respects: The establishment of a rigid-flexible and piezoelectric-mechanical coupling dynamic model for a single arm manipulator treated with ACLD, in which the high-speed rotating case for the system will be a serious consideration; The establishment of a rigid-flexible and piezoelectric-mechanical coupling dynamic model for a manipulator with flexible joints and links treated with ACLD, in which joint flexibility and large deformation of flexible link partially treated with ACLD will be the key research points, and structure optimization schemes of the manipulator treated with ACLD will be proposed; Model reduction and controller design for the flexible manipulator treated with ACLD, in which some new active passive vibration hybrid control methods for flexible robots with high-speed and large deformation based on the methodology of ACLD will be developed. The research can help to solve the problem of vibration suppression in the field of robotics, and will provide theory methods on dynamics modeling and control for multi-body systems.

针对柔性机器人在执行任务中由结构柔性所引起的振动问题，本课题拟在刚柔耦合动力学和压电智能材料机电耦合问题两个方面，采用主动约束层阻尼技术，开展主动约束层阻尼柔性机械臂动力学建模理论与振动控制的研究。本课题的主要研究内容包括：含主动约束层阻尼的单杆柔性机器人的高次刚柔-机电耦合动力学建模，重点研究高速旋转主动约束层阻尼柔性机械臂动力学模型的建立；含主动约束层阻尼的柔性铰柔性杆机器人的刚柔-机电耦合动力学建模，重点研究考虑关节柔性和发生大变形的部分覆盖主动约束层柔性臂杆的动力学模型的建立，提出主动约束层阻尼机械臂的结构优化方案；含主动约束层阻尼的柔性机械臂系统模型降阶与控制器设计，基于复杂系统模型的降阶方法，提出实现高速大变形柔性机器人的主动约束层阻尼主被动混合振动控制新策略。本课题研究有助于解决机器人领域的振动抑制问题，并可为柔性多体系统动力学建模与控制提供理论方法。

本项目研究了柔性机器人动力学建模与主被动混合振动抑制问题。在动力学建模方面，利用浮动坐标系法建立了考虑刚柔耦合和机电耦合效应的高次耦合动力学模型，针对机械臂的复杂非线性动力学特性进行了仿真分析，结果表明考虑高阶几何非线性耦合变形量的高次耦合模型较传统低次耦合模型更具优势。提出了一种含边端元体的主动约束层阻尼机械臂动力学模型，建模时将边端元体简化为弹簧-质点系统，由此获得的动力学模型可同时考虑边端元体质量效应和刚度效应，能更真实的模拟系统的动力学特性。在柔性体振动抑制及优化方面，对不同阻尼覆盖率下结构的控制效果进行了评估。研究了含主动约束层阻尼结构柔性臂的线性振动特性，分析了开、闭环系统的频率及模态受参数影响规律。在柔性体离散及数值求解方法方面，初步研究了适用于柔性机械臂大变形分析的基于无网格插值的绝对节点坐标法，提出了适用于多体系统动力学的双循环隐士积分算法，这些方法可进一步应用于主动约束层阻尼机器人大变形动力学建模与控制。本项目的研究可为我国空间站柔性机械臂附件的精准动力学建模与振动抑制提供理论支持。