摘要
谐波传动有很多优点，在机器人驱动中经常被使用．但谐波传动也有一些缺点，如柔性等因素影响负载端轨迹跟踪精度．本文系统地分析了谐波传动系统的动力学特性，建立了包括电机转子惯量在内的动力学模型，并且在对系统进行全面实验研究的基础上总结出谐波传动系统中存在的问题，采用相应的基于传感器的控制策略克服存在的问题，提高系统的响应性能．
Harmonic drives are a type of gear mechanisms that are very popular for use in robots due to their compact size, light weight, high ratio torque transmission and almost zero backlash, high precision, smooth running, and low noise. However, harmonic drive systems suffer from high flexibility, resonance vibration, friction and structural damping non linearity, which will lead to vibration and decrease the tracking accuracy of the load side of the system. We build up a model for the system including the motor inertia, and analysize the dynamic characteristics of the harmonic drive. From the sufficient experiments' study we can see the dynamic characteristics of the harmonic drive system, and the relevant control strategies are suitable for to solving the problems and improving the performance. Experimental results based the scheme are presented to demonstrate its efficiency.
出处
《机器人》
EI
CSCD
北大核心
1999年第6期442-448,472,共8页
Robot
基金
"863"计划"智能机器人主题"资助项目
关键词
机器人
谐波驱动系统
控制策略
自由度
Harmonic drive
acceleration feedback control
resist vibration
resist torque disturbance
trajectory tracking control
