Study On Vibration Suppression Of Two Degree Of Freedom Flexible Manipulator Based On The Active And Passive Hybrid Control Model

Flexible manipulator has been used in wide fields such as space garbage collection,underwater sample collection and space detection,with the features of light quality,low energy consumption and high load weight ratio.additon large vibration can been generated during the operation of flexible manipulator,which will lead to low position precision and poor reliability.Effective vibration control is crucial during the application of the flexible manipulator,which can be divide into two main types: active and passive vibration control.An active-passive hybrid vibration control strategy for a two-degrees of freedom(2-DOF)flexible manipulator is proposed in this project,which can take into account the advantages of both active and passive method.The dynamics equations of the 2-DOF flexible manipulator is built based on Lagrange's principle.Based on the modal analysis module in COMSOL,the first three order modal analysis of the two degree of freedom flexible manipulator is carried out.So,2 passive control schemes,6 active control schemes and 6 kinds of active and passive hybrid control schemes are designed.The uncontrolled state of the first two steps and the motion of the 14 control modes are simulated,and the displacement time images of the end points under different control are drawn.The simulation results show that the active and passive hybrid control terminal vibration suppression effect is better than the active control at the same location.Finally,the experimental platform is built based on the laser displacement sensor,and the vibration displacement of the end of the manipulator is measured by the passive control scheme 1 and scheme 2,the active control scheme 3,4,5 and the scheme 9,10,11 under the hybrid control.The correctness of the simulation results is verified by analyzing the experimental results.