Design And Performance Simulation Of A Three Degree Of Freedom Active Vibration Isolation System

In the process of intelligent manufacturing,it is necessary to quickly sense the external features and complete the driving action accurately.Among them,the industrial robot is responsible for the main processing and manufacturing tasks.The object recognition and detection is accomplished by the Industrial Camera.When the robot arm is in different working states,such as turning,stopping and starting,the impact vibration is inevitable.Impact and vibration will not only affect the image accuracy captured by the industrial camera on board,but also reduce the efficiency of the robot.Based on the above factors,a three-degree-of-freedom parallel vibration reduction system based on Piezoelectric actuator is designed in this paper.The system has the characteristics of precision machinery,control and detection technology,and realizes the design of integration of mechanism,drive and detection.It has the advantages of small volume,simple and compact structure,high stiffness and high frequency response.At the same time,it can achieve nanometer control accuracy.The main contents of this thesis are as follows.(1)For the manipulator with imaging equipment,based on the traditional vibration control method using motor-driven manipulator.An active vibration isolation platform is designed and the mathematical model of the three-degree-of-freedom vibration isolation platform is established by LAGRANGIAN method.(2)Complete the configuration selection and design of the three-degree-of-freedom active vibration isolation platform,analyze the characteristics of piezoelectric ceramics,and complete the selection of driving devices.In addition,the mathematical model of flexure hinge is established and finite element analysis is carried out to determine the structure size and material of flexure spherical hinge.At the same time,finite element analysis software and motion analysis software are used to analyze the finite element strength and fatigue life of the whole model.(3)The classical PID control algorithm is adopted in the active vibration platform to realize the adaptive suppression of impact vibration.At the same time,the simulation and analysis of the vibration isolation performance of the active vibration isolation platform are completed.(4)The prototype of the active vibration absorber is designed and made,and the experimental platform of vibration isolation performance is designed and built.Different excitation signals are input to the prototype system,and the vibration isolation performance of the prototype in vertical direction is tested.The experimental results show that the vibration isolation system has a good effect on shock vibration reduction.