一种应用于柔性机械手的新型阻尼器的特性分析

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根据液体阻尼器的优点与柔性机械手的自身特点设计一种新型的阻尼器。从挤压油膜理论出发，分析含阻尼器的梁的振动特性，建立数学模型；基于有限元法，研究各个参数对阻尼器特性影响的大小，得出对整体性能影响较大的因素。通过算例分析，验证了阻尼器的有效性，也表明上述分析的合理性，并得出合理的油膜厚度是阻尼器获得良好性能的关键性因素的结论。 A new damper was designed from the point which combined with the advantage of liquid damper and the inherent characteristics of flexible manipulators. For one thing, the mathematical model was derived by analyzing the vibration of a beam with the damper from the squeeze film theory. For another thing, the influence of various parameters on the damper characteristics was discussed to get some parameters which impact largely on the overall performance. Finally, the effectiveness of the damper and the consistency of the above discussion were verified through the analysis of the case. At the same time, the conclusion about the appropriate oil thickness is the key factor which makes good performance was derived.