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

被引：0
|
作者：
Afonin, V. L. [1 ]
Slepstov, V. V. [2 ]
Ablaeva, A. E. [2 ]
Kananadze, S. S. [3 ]
机构：
[1] Mech Engn Res Inst Russian Acad Sci IMASH RAN, Moscow 101000, Russia
[2] MIREA Russian Technol Univ, Moscow, Russia
[3] Moscow Inst Aviat Technol, Moscow, Russia
来源：
JOURNAL OF MACHINERY MANUFACTURE AND RELIABILITY | 2024年 / 53卷 / 08期
关键词：
industrial robot; tracking electric drive; static and dynamic error; energy characteristics of dual-motor electric drives; modulus optimum;
D O I：
10.1134/S1052618824700857
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
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.
引用
收藏
页码：867 / 872
页数：6
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