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本文研究了机器人柔性手臂的实验系统,针对柔性臂的振动问题和定位精度问题,提出了在单个关节柔性臂上实现宏/微结合双重驱动的基本思想。用伺服电机实现柔性臂的宏动,用压电陶瓷驱动器实现柔性臂的微动,通过有效地控制伺服电机和压电陶瓷驱动器抑制柔性臂的振动,并完成柔性臂的精密定位。
In this paper, the experimental system of robotic flexible arm is studied. According to the problem of flexible arm vibration and positioning accuracy, the basic idea of realizing macro / micro combined dual drive on a single flexible joint arm is proposed. A flexible motor arm is realized by a servomotor. The fretting of the flexible arm is achieved by a piezoelectric ceramic actuator. The vibration of the flexible arm is restrained by the effective control of the servomotor and the piezoceramic actuator, and the precise positioning of the flexible arm is completed.