Dynamic Amplification of Oscillations in the Electric Drive of Deep-Sea Manipulators Based on Electric Motors of Oscillatory Motion

In robotic systems with a periodic mode of movement of drive links, the speed is limited by high energy consumption to overcome inertia forces in each cycle. The dynamics of a drive based on synchronous reactive electric motors of oscillatory motion of a resonant type is considered. An electric drive of this type provides full recovery of the energy spent on acceleration and braking of the drive links. In addition, the electrical part of such a drive can be easily isolated from the external environment. At the same time, electric motors of oscillatory motion do not provide sufficiently large oscillation amplitudes to the actuating elements of the drive. In paper using the example of an underwater manipulator, built on the basis of electric motors of oscillatory motion, the possibility of amplifying drive oscillations by dynamic oscillation control is investigated. It is shown that amplification of oscillations can be achieved by introducing an additional degree of freedom into an electromechanical system: motor - actuator. To do this, the actuating elements of the drive must be connected to the armature of electric motor by means of an additional elastic element forming, together with the moving masses of the actuator, an inertial dynamic vibration damper of the armature. As a result, there is a dynamic stabilization of the armature oscillations in the zone with the maximum values of the positional dependence of the driving electromagnetic moment. At the same time, the oscillation amplitude of the working organ of the electric drive, on the contrary, will increase significantly.