使用双电机跟踪电动驱动器提高工业机器人的精度

IF 0.4 Q4 ENGINEERING, MECHANICAL Journal of Machinery Manufacture and Reliability Pub Date : 2024-12-16 DOI:10.1134/S1052618824700857

V. L. Afonin, V. V. Slepstov, A. E. Ablaeva, S. S. Kananadze

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引用次数: 0

摘要

讨论了工业机器人系统的双电机电力驱动，确定了其关键技术指标。选择了位置和速度控制器的类型和参数，并提出了控制系统的结构图，以消除机械传动中的间隙误差。

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Enhancing the Accuracy of Industrial Robots Using Dual-Motor Tracking Electric Drives

Dual-motor electric drives for industrial robotic systems are discussed, and their key technical specifications are defined. The types and parameters of the position and speed controllers for such drives have been selected, and a structural diagram of the control system is proposed to eliminate the errors caused by backlash in mechanical transmissions.

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来源期刊

Journal of Machinery Manufacture and Reliability ENGINEERING, MECHANICAL-

CiteScore

0.80

自引率

33.30%

发文量

期刊介绍： Journal of Machinery Manufacture and Reliability is devoted to advances in machine design; CAD/CAM; experimental mechanics of machines, machine life expectancy, and reliability studies; machine dynamics and kinematics; vibration, acoustics, and stress/strain; wear resistance engineering; real-time machine operation diagnostics; robotic systems; new materials and manufacturing processes, and other topics.