新型混合直接驱动的机器人关节精密定位系统被引量：1

High-precision positioning system of robot joint based on novel composite direct driving mechanism

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摘要充分利用电磁电机和超声波电机各自的优点,提出了一种新型混合直接驱动系统。该系统采用步进电机与行波超声波电机分时直接驱动机器人关节,通过两阶段定位控制,可实现机器人关节高精度、长寿命、大行程、开环精密定位。实践证明,将电磁电机与超声波电机相结合的思想具有很好的研究价值和应用前景。 According to the advantage of electromagnetic mechanism and traveling wave ultrasonimotor, a novel composite direct driving mechanism design method was put forward to drive robot joint using single stepping motor and traveling wave ultrasonic motor. The high-precision position system which subdivides the control process to two step has features of open-loop precision positioning, longevity, large-stroke, better maintainability and it has broad prospect in research and application.

作者华亮吴晓冯浩

机构地区南通大学电气工程学院浙江工业大学智能信息研究所

出处《机电工程》 CAS 2008年第3期10-12,110,共4页 Journal of Mechanical & Electrical Engineering

基金南通市应用研究计划资助项目(K2007023)

关键词直接驱动步进电机行波超声波电机电磁机构微步控制 direct driving stepping motor traveling wave ultrasonic motor（TRUSM） electromagnetic mechanism micro-step control

分类号 TP273 [自动化与计算机技术—检测技术与自动化装置]

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