Improving path accuracy of a crank-type 6-dof parallel mechanism by stiction compensation

被引：10
作者：
Castillo-Castaneda, E. [1 ]
Takeda, Y. [2 ]
机构：
[1] Autonomous Univ Queretaro, Fac Engn, Queretaro 76010, Mexico
[2] Tokyo Inst Technol, Dept Mech Sci & Engn, Meguro Ku, Tokyo 1528552, Japan
来源：
MECHANISM AND MACHINE THEORY | 2008年 / 43卷 / 01期
关键词：
parallel mechanisms; path accuracy; precision motion; stiction compensation;
D O I：
10.1016/j.mechmachtheory.2006.12.002
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The path accuracy of parallel mechanisms depends on both the mechanical design and the motion control algorithm that minimizes the following error. The PID control algorithm is not suitable for very precise motion control since it cannot compensate non-linear phenomena such as backlash and static friction or stiction. This work proposes a stiction compensation algorithm to improve path accuracy of a crank-type 6-dof parallel mechanism. The stiction has been modeled as a dead-zone and has been experimentally identified. The results were compared with those of the classical PID including velocity and acceleration feed forward. (C) 2006 Elsevier Ltd. All rights reserved.
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收藏
页码：104 / 114
页数：11
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