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

项目名称： 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

项目编号： No.11502113

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 数理科学和化学

项目作者： 黎亮

作者单位： 南京理工大学

项目金额： 20万元

中文摘要： 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。

中文关键词： 刚柔耦合；柔性机器人；主动约束层阻尼；动力学建模；振动控制

英文摘要： 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.

英文关键词： rigid-flexible coupling;flexible robot;active constrained layer damping;dynamic modeling;vibration control