摘要
研制了一种新颖的高速高精度柔性机器人机构。采用高速精密直线电机驱动2-DOF平面并联压电智能杆机构,针对柔性机器人机构的振动问题,以直线伺服电机作为机器人的主驱动源实现高速精密点位控制并采用脉冲整形技术减小末端残余振动,以压电陶瓷作为从驱动源采用闭环反馈控制策略抑制末端残余振动。实验研究和测试结果表明:机器人系统的最大加速度为2 g,稳定时间小于150 ms,重复定位精度小于±5μm,实现了高速高精度的点位控制。
A novel high speed/high precision robot with two permanent linear motors drived a 2-DOF planar parallel piezo smart mechanism was proposed. By taking a linear motors as master driver to realize fast precision positioning in large displacement motion and by preshaping input command technique to suppress vibration, and using a piezo as slave driver and closed loop feedback controller to restrain residual vibration, the dual driving structure could supress the vibration of robot ideally. Experiment results indicate that this approach realizes high performance point-to-point control preciselly, the maximum acceleration is 2 g, steady time is less than 150 ms, and repeatability is less than ±5μm.
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2006年第3期456-462,共7页
Optics and Precision Engineering
基金
国家"863"计划资助(No.2001AA423110)
关键词
柔性机器人
振动抑制
双重驱动
flexible robot
vibration control
dual driving
