Study on Vibration of Heavy-Precision Robot Cantilever Based on Time-varying Glowworm Swarm Optimization Algorithm

摘要

A method of terminal vibration analysis based on Time-varying Glowworm Swarm Optimization algorithm is proposed in order to solve the problem that terminal vibration of the large flexible robot cantilever under heavy load precision.The robot cantilever of the ballastless track is used as the research target and the natural parameters of the flexible cantilever such as the natural frequency, the load impact and the axial deformation is considered. Taking into account the change of the minimum distance between the glowworm individuals, the terminal vibration response and adaptability could meet. According to the Boltzmann selection mechanism, the dynamic parameters in the motion simulation process are determined, while the influence of the natural frequency and the load impact as well as the axial deformation on the terminal vibration is studied. The method is effective and stable, which is of great theoretical basis for the study of vibration control of flexible cantilever terminal.