现代制造工程Issue(8)：43-49,7.DOI:10.16731/j.cnki.1671-3133.2026.08.006
重载工业机器人机电耦合振动抑制研究
Research on electromechanical coupling vibration suppression of heavy-duty industrial robots
摘要
Abstract
Aiming at the problem of residual vibration at the end of the joints of heavy-duty industrial robots under start-stop con-ditions,an input shaping suppression method based on electromechanical coupling modeling was proposed.Firstly,the electrome-chanical coupling dynamics model of the joint system including motor,reducer and load was constructed,and the internal mecha-nism of system vibration was revealed.On this basis,according to the system vibration parameters obtained from simulation analy-sis,two input shapers with Zero Vibration(ZV)and Extremely Insensitive(EI)were designed respectively.Then,the vibration suppression performance of the two input shapers was systematically compared and analyzed by using the Simulink simulation platform.Finally,the actual test was carried out by building a test platform for heavy-duty industrial robots.The test results show that the peak suppression rates of ZV and EI input shapers are 31.25％and 41.02％,respectively,which verifies the effective-ness of the input shaping suppression method based on electromechanical coupling analysis in suppressing the residual vibration at the end of heavy-duty industrial robots.关键词
重载工业机器人/机电耦合/残余振动/输入整形Key words
heavy-duty industrial robots/electromechanical coupling/residual vibrations/enter shaping分类
信息技术与安全科学引用本文复制引用
王盛学,熊晋锋,赵阳,范思怡..重载工业机器人机电耦合振动抑制研究[J].现代制造工程,2026,(8):43-49,7.基金项目
重庆市自然科学基金创新项目(CSTB2024NSCQ-LZX0128) （CSTB2024NSCQ-LZX0128）
重庆文理学院研究生科研创新项目(CUAS-GSG2024004) （CUAS-GSG2024004）
