双重驱动 2-DOF平面并联机器人系统的研究

楚中毅; 崔 晶; 孙立宁; 曲东升

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双重驱动 2-DOF平面并联机器人系统的研究

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- 双重驱动 2-DOF平面并联机器人系统的研究
- Research of a novel dual-driven 2-DOF planar parallel robot
- 光学精密工程 2006年14卷第3期页码：456-462
- 作者机构：
  
  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
- 作者简介：
- 基金信息：
- DOI：
  中图分类号： TP242
- 收稿日期：2005-05-07，
  
  修回日期：2005-09-24，
  
  网络出版日期：2006-06-30，
  
  纸质出版日期：2006-06-30
- 稿件说明：
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楚中毅, 崔晶, 孙立宁, 等. 双重驱动 2-DOF平面并联机器人系统的研究[J]. 光学精密工程, 2006,14(3):456-462.

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.
楚中毅, 崔晶, 孙立宁, 等. 双重驱动 2-DOF平面并联机器人系统的研究[J]. 光学精密工程, 2006,14(3):456-462. DOI：

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. DOI：

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±5 μm

实现了高速高精度的点位控制。

Abstract

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.

关键词

Keywords

references

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