覆盖约束层阻尼的柔性机械臂抑振仿真分析

SIMULATION ON VIBRATION SUPPRESSION OF FLEXIBLE MANIPULATOR WITH SEGMENTED CONSTRAINED LAYER DAMPING TREATMENT

  • 摘要: 针对柔性空间机械臂容易发生振动的问题,以柔性空心圆壳机械臂为对象,在其上覆盖分段约束层阻尼、全覆盖主动约束层阻尼和全覆盖被动约束层阻尼,运用有限元软件进行动力学仿真计算分析,研究比较了三种模型的抑振效果和阻尼特性。由于分段约束层阻尼结构中切口的存在,黏弹性材料的剪切变形增大,相较于其他两种结构可有效提高结构阻尼特性,并且研究发现分段方法的适用性与阻尼层内剪切应变水平有关。

     

    Abstract: In response to the problem that the flexible robot in space arm is prone to vibration, the flexible hollow shell robot arm is covered with segmented constrained layer damping treatment, fully covered active constrained layer damping treatment, and fully covered passive constrained layer damping treatment respectively for better vibration suppressions. The dynamic simulation analysis of the three structural models is carried out by using finite element software, and the vibration suppression effect and damping characteristics of the three models are studied and compared. The segmentation method forms a cut in the constrained layer damping patch, which increases the shear deformation of the viscoelastic material in the vibration suppression process. Therefore the segmentation method can more effectively improve the damping characteristics of the structure compared with the other two structures. Moreover, it is found that the applicability of segmentation is related to the level of shear strain of the damping layer.

     

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