Vibration Suppression of High-Speed Flexible Tolerance Mechanism and its Optimal Motion Design
An automatic rebar tying equipment is introduced to improve efficiency and quality in intelligent construction,to reduce labor intensity for workers and to provide new application scenarios for human-machine collaboration.However,current automatic rebar tying devices suffer from a technical bottleneck problem of low visual positioning accuracy.This paper addresses this issue by introducing a tolerance mechanism,which utilizes its underactuated characteristics to compensate for visual positioning errors.However,the elastic components in the underactuated mechanism generate inertia forces during high-speed motion of the moving platform,causing system vibrations that affect tying accuracy and limit work efficiency.To tackle this problem,the paper applies optimal dynamic control theory to determine control motion patterns and system design parameters,so as to reduce stabilization time,energy consumption,and steady-state errors.Simulation and experimental validation of the research results show that the driving mode designed through optimal control exhibits significant advantages over traditional driving methods in terms of stabilization time and steady-state errors.
rebar tyingtolerance mechanismelastic componentoptimal controlmotion control law
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