Vibration suppression method of rigid-flexible coupling mechanical arm based on optimization algorithm

• Main Authors: QIAN XIAOSHAN, LING XIAOHUI, YI XIAOXI, XU LISHA, YUAN XINMEI, ZENG WENTING, XIONG YINGUO, HU XIAOYAN, CUI XINGLI
• Format: Patent
• Language: Chinese; English
• Published: 22.03.2024
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention provides a vibration suppression method of a rigid-flexible coupling mechanical arm based on an optimization algorithm, and relates to the technical field of mechanical arm control. The vibration suppression method of the rigid-flexible coupling mechanical arm based on the optimization algorithm comprises the steps of establishing a simulation model, determining a rigid-flexible coupling relation, establishing a coupling kinetic equation, establishing a simulation virtual experiment model, obtaining simulation state data, adjusting and optimizing the data and suppressing vibration. According to the method, the rigid-flexible coupling relation of a mechanical arm modeling motion system is defined, a simulation virtual experiment model is established through a virtual prototype model and a coupling kinetic equation, the optimal motion state and motion track parameters of the mechanical arm are obtained through a simulation experiment, and the mechanical arm can be simulated according to the parame