双重驱动机器人柔性手臂的研究  

The Research of a Flexible Manipulator Driven by Two Actuators

作　　者：孙立宁[1] 赵宏伟[1,1] 赵宏伟[1,1] 张涛[1] 蔡鹤皋 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《高技术通讯》2000年第2期86-89,共4页Chinese High Technology Letters

基　　金：机器人网点实验室资助项目

摘　　要：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。The text studied the experimental system of flexible manipulator. In allusion to vibration and location precision. An ideal about using both macro and micro driver on a single flexible manipulator was brought forward. In our experimental system, servo motor was used as macro driver, piezoelectric actuators were used as micro drivers. The vibration of flexible manipulator was restrained and flexible manipulator top was precise located by controling the servo motor and piezoelectric actuators.

关 键 词：主动控制 柔性手臂 压电陶瓷驱动器 机器人 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]