现代制造工程Issue(4)：30-35,6.
基于混合型输入整形的一种三自由度并联机器人抑振的灵敏度分析
Sensitivity analysis to vibration suppression of a 3-DOF parallel manipulator based on the hybrid input shaping
摘要
Abstract
Input shaping is an effective control strategy to reduce residual vibration of robot system .The performance of input shap-ers can be evaluated by analyzing the robustness of input shaper .The robustness represents the ability to reduce the amplitude of vi-bration and the range of the frequency of vibration suppression .This can be obtained by the curves of sensitivity .The method of the hybrid multiple-mode input shaper with unit amplitude negative impulses based on time-optimization are introduced ,and the meth-ods of sensitivity calculation are also presented .These methods are applied in a 3-DOF parallel robot .The insensitivities of the input shapers are analyzed by using numerical simulations .The effects of the hybrid input shapers with different types of impulses are studied.The results show that the robustness of the new input shapers is better than single-mode input shapers .The robustness of UMNZV-UMNZVD is the best in the input shapers by the new method .Furthermore,different types of impulses will affect the ro-bustness of the hybrid input shapers .The hybrid input shapers with ZV-ZVD possesses the best synthesized performance .关键词
混合/输入整形/多模态/灵敏度/减振Key words
hybrid/input shaping/multi-mode/sensitivity/vibration suppression分类
信息技术与安全科学引用本文复制引用
李兵,魏玉兰..基于混合型输入整形的一种三自由度并联机器人抑振的灵敏度分析[J].现代制造工程,2014,(4):30-35,6.基金项目
浙江省自然科学基金项目（LQ12E05008）；湖州市科技攻关基金项目 （）
