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1. 哈尔滨工业大学 机器人研究所,黑龙江 哈尔滨,150001
2. 清华大学 计算机科学与技术系 北京,100084
3. 清华大学 精密仪器系 北京,100084
Received:07 May 2005,
Revised:24 September 2005,
Published Online:30 June 2006,
Published:30 June 2006
移动端阅览
CHU Zhong-yi, CUI Jing, SUN Li-ning, et al. Research of a novel dual-driven 2-DOF planar parallel robot[J]. Optics and precision engineering, 2006, 14(3): 456-462.
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±5 μm
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 ±5 μm.
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