基于传动误差前馈补偿技术的滤芯检测机器人设计

Design of Filter Checking Robot Based on Backlash Feedforward Compensation

讨论了一种新型滤芯检测机器人的设计.这种滤芯检测机器人的机械本体采用新颖的SCARA结构,控制系统中采用间隙前馈补偿技术,机器人末端速度采用了双梯形升降速规律,充分利用了电动机的频率特性.实验表明,采用这种补偿技术,末端的轨迹跟踪精度有较大的提高.

This paper discussed the design of a new type of filter checking robot. The new type of SCARA mechanical structure is adopted, and the control system is based on the backlash feedforward compensation technique. The double trapezium is used in the speed curve for the end effector of the robot and the frequency characteristics of stepping motors is made good use of. It is concluded from the experiment that the maximum error tracking fold line of filter paper is in the prescribed range.