混合驱动机构的动态轨迹综合方法的研究  

Study on the Dynamic Path Synthesis Method for Hybrid Actuation Mechanisms

作　　者：何东[1] 孙志宏[1] 章文俊 

机构地区：[1]东华大学机械工程学院,上海201620 [2]萨斯喀切温大学工程学院

出　　处：《机械传动》2012年第11期55-57,62,共4页Journal of Mechanical Transmission

摘　　要：混合驱动机构在实际工作过程中,常速电机会有速度波动,给终端执行器的轨迹生成造成结构误差。为了能够精确地实现轨迹生成,提出了一种考虑混合驱动机构真实的动态行为(包括惯性、阻尼、刚度)的轨迹综合的方法。给出了考虑电机的动态行为的混合驱动机构的动态模型,把伺服电机的输入作为设计变量,来补偿常速电机速度波动造成的轨迹误差。仿真实例证明提出的方法能够实现一个更为精确的轨迹生成。It is well known that the CV（Constant Velocity） motor introduces velocity fluctuation. In fact, in the servo motor, there is also a fluctuation if the servo motor is not feedback controlled. A pioneer yet preliminary study on designing a path generator is presented with consideration of the systems dynamics including inertia, damping, and stiffness of the motors. The methodology proposed is to consider the servomotor＇ s input as a design variable to compensate the error on a path caused by the velocity fluctuation in the motors. The simulated test result has shown significant improvement in path generation accuracy with the proposed methodology.

关 键 词：混合驱动机构 动态行为 轨迹综合 速度波动 

分 类 号：TH112[机械工程—机械设计及理论]