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6. 预紧力为 20N 时机械臂末端 $X$ 方向加速度及频谱图

Fig.6. The $X$-direction acceleration and spectrum of manipulator end with 20N preloading force