双驱动伺服机构动力学

ISIE 2001. 2001 IEEE International Symposium on Industrial Electronics Proceedings (Cat. No.01TH8570) Pub Date : 2001-06-12 DOI:10.1109/ISIE.2001.932020

Heung-Keun Park, Sung-Su Kim, Jin-Moo Park, Tae-yeon Cho, D. Hong

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引用次数: 29

摘要

龙门机构广泛用于精密制造和材料处理在电子，核，和汽车工业。双驱动伺服机构是一种增加控制带宽的方法，其中两个主轴平行排列由相同的伺服电机同步驱动。在这种机构中，为了避免位于龙门两侧的双驱动器之间的伺服不匹配造成的损坏，通常引入柔性耦合。本文描述了包括柔性关节在内的该机构的动力学特性，并讨论了其控制分支。同时，在两个驱动器之间不存在伺服失配的假设下，对末端执行器质量的动态影响进行了仿真分析。根据仿真结果，提出了适当的增加伺服带宽和减小位置误差的设计原则。

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Dynamics of dual-drive servo mechanism

Gantry mechanisms are widely used for precision manufacturing and material handling in electronics, nuclear, and automotive industries. A dual drive servo mechanism is a way to increase control bandwidth, in which two primary axes aligned in parallel are synchronously driven by identical servo motors. With this mechanism, a flexible coupling is often introduced in order to avoid the damage by the servo mismatch between the dual drives located at each side of a gantry. This paper describes the dynamics of this mechanism including the flexible joints and discusses its control ramifications. Also, under the assumption of no servo mismatch between the two drives, simulations are performed to analyze the dynamic effect of the mass of end-effector. Based on the simulation results, an appropriate design guideline to increase the servo bandwidth and to reduce position errors is suggested.

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来源期刊

ISIE 2001. 2001 IEEE International Symposium on Industrial Electronics Proceedings (Cat. No.01TH8570)

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