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Alternative TitleSimulation and application of anti-backlash technique with dual-motor in the tandem manipulator
江勇; 张伟; 刘晓源; 金博丕
Source Publication中国机械工程
Indexed ByEI ; CSCD
EI Accession number20204209352748
Contribution Rank1
Funding Organization中国科学院重大方向性项目(Y2D1150101)
Keyword全断面岩石双电机 消隙 机械臂 精度


Other Abstract

Typical nonlinear backlash which is widespread in the robot servo system is an important constraint to improve the precision of dynamic performance and reduce steady-state error. In order to reduce the backlash’s impact on system performance, tandem manipulator adopted anti-backlash technology with dual-motor master-slave drive. First, based on the basic principles and structure of dual-motor backlash system, analysis and establish nonlinear elastic dead-zone model of backlash; according to the kinetic derivation dual-motor is derived, establish the Simulink model which used dual-motor bias torque control strategy for anti-backlash, and give algorithm framework and servo system hardware circuit schematic of the system at the same. Based on engineering design actual parameters, carry out the principle of emulation; Test the tandem manipulator system which used the dualmotor anti-backlash technology for accuracy verification through laser tracker. Simulation and experimental results showed that: the mathematical model reflects the basic characteristics of the actual system; the end of the tandem manipulator whose workspace is 4.5m reaches 1.2mm accuracy, high accuracy meets performance requirements of the engineering applications; dual-motor anti-backlash technology can be widely used in other precision mechanical systems, more in-depth study has important theoretical significance and engineering applications value.

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Document Type期刊论文
Corresponding Author江勇
Recommended Citation
GB/T 7714
江勇,张伟,刘晓源,等. 双电机消隙技术在串联机械臂中的仿真与应用[J]. 中国机械工程,2020,31(16):1991-1997.
APA 江勇,张伟,刘晓源,&金博丕.(2020).双电机消隙技术在串联机械臂中的仿真与应用.中国机械工程,31(16),1991-1997.
MLA 江勇,et al."双电机消隙技术在串联机械臂中的仿真与应用".中国机械工程 31.16(2020):1991-1997.
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