机械臂臂杆刚度主动控制下的末端振动特性研究$^{\bf 1)}$
张玉玲*,谷勇霞†,赵杰亮*,阎绍泽*2)(
)
)
RESEARCH ON VIBRATION CHARACTERISTICS OF THE MANIPULATOR END UNDER ACTIVE CONTROL OF ARM STIFFNESS$^{\bf 1)}$
Zhang Yuling*,Gu Yongxia†,Zhao Jieliang*,Yan Shaoze*2)()
)
图9. 不同预紧力下机械臂末端的加速度响应及其频谱图
Fig.9. The acceleration and spectrum of manipulator end under different preloading force
