| Research of a novel dual-driven 2-DOF planar parallel robot | |
| Chu Zhong-yi ; Cui Jing ; Sun Li-ning ; Qu Dong-sheng | |
| 2010-05-06 ; 2010-05-06 | |
| 关键词 | Practical Experimental/ closed loop systems intelligent actuators linear motors piezoelectric actuators position control robots vibration control/ dual-driven robot planar parallel robot two-degree-of-freedom robot high speed robot high precision robot permanent linear motors piezosmart mechanism fast positioning precision positioning displacement motion preshaping input command vibration suppression piezo slave driver closed loop feedback controller point-to-point control vibration control/ C3390 Robotics C3260P Microactuators C3260N Intelligent actuators C3120C Spatial variables control C3120F Mechanical variables control |
| 中文摘要 | A novel high speed/high precision robot with two permanent linear motors drived a 2-DOF planar parallel piezo smart mechanism was proposed. By taking a linear motors as master driver to realize fast precision positioning in large displacement motion and by preshaping input command technique to suppress vibration, and using a piezo as slave driver and closed loop feedback controller to restrain residual vibration, the dual driving structure could suppress the vibration of robot ideally. Experiment results indicate that this approach realizes high performance point-to-point control precisely, the maximum acceleration is 2 g, steady time is less than 150 ms, and repeatability is less than +/-5 mu m. |
| 语种 | 中文 ; 中文 |
| 出版者 | Editorial Board of Optics and Precision Engineering ; China |
| 内容类型 | 期刊论文 |
| 源URL | [http://hdl.handle.net/123456789/9821]  |
| 专题 | 清华大学 |
| 推荐引用方式 GB/T 7714 | Chu Zhong-yi,Cui Jing,Sun Li-ning,et al. Research of a novel dual-driven 2-DOF planar parallel robot[J],2010, 2010. |
| APA | Chu Zhong-yi,Cui Jing,Sun Li-ning,&Qu Dong-sheng.(2010).Research of a novel dual-driven 2-DOF planar parallel robot.. |
| MLA | Chu Zhong-yi,et al."Research of a novel dual-driven 2-DOF planar parallel robot".(2010). |
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