| 摘要 |
The device can be used in all types of robots and manipulators. It is simplified and with it the energy consumption is reduced and the damping of mechanical fluctuations with high response time, regardless of whether they are along the degrees of movability of the robot, is secured. The device comprises, for each direction of fluctuations and for each member (9), pairs of inertial vibration sensors (1), with which a generator of saw-tooth voltage (3) and a differentiator (2) are connected in parallel. The output of the generator (3) is connected to a source of inverse voltage (4), while the output of the differentiator (2) is connected to the control input of a field-effect transistor (5), which input is connected to the source of inverse voltage (4), and the output is connected to an electronic memory (6). The output of the memory (6) through a summing amplifier (7) is connected to a magnetising winding (8), magnetically connected to the manipulator with the members (9) made as a pack of steel bars, assembled in rectangular profiles, ferromagnetically isolated from each other.
|
