| 摘要 |
Apparatus to actively control the vibrations of an articulated arm, for example for pumping concrete, consisting of a plurality of segments pivoted to each other in correspondence to their own pivoting ends and of drive actuators each cooperating with two of said segments in order to extend and/or fold back the articulated arm. Each of the drive actuators is connected to a drive circuit in order to act on a vertical plane substantially defined by the two segments of the articulated arm to which it is associated. Said apparatus also comprises at least one auxiliary actuator associated to at least one of said segments of the articulated arm in proximity to at least one of the pivoting ends, said auxiliary actuator being provided with at least two operative ends, each of said operative ends being connected to a corresponding support, said supports being provided on said segment distanced to each other along the longitudinal development of said corresponding segment and defining, on the segment, respective application zones, said auxiliary actuator being selectively activable to induce, in said application zones, compensation forces acting on a damping plane which is different from said vertical plane. |
