Design and control of planar parallel mechanisms with high speed and high precision

被引：0
|
作者：
Sun, L. N. [1 ]
Liu, Y. J. [1 ]
Li, J. [1 ]
Cui, J. [1 ]
机构：
[1] Harbin Inst Technol, Inst Robot, Harbin 150001, Peoples R China
来源：
ADVANCES IN MACHINING & MANUFACTURING TECHNOLOGY VIII | 2006年 / 315-316卷
关键词：
planar parallel mechanism; optimal kinematic design; disturbance observer;
D O I：
10.4028/www.scientific.net/KEM.315-316.872
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In order to satisfy the requirement of advanced manufacturing equipments with high speed and high precision, two planar parallel mechanisms have been developed. Based on these mechanisms, firstly, in consideration with the velocity and the precision of the end-effector together, the dimension optimization design is performed based on conditioning index and the precision characteristics. Then a disturbance observer is designed for the purpose of restraining load disturbance in the direct-drive system, and the experimental results show that load disturbance can be effectively restrained by the disturbance observer.
引用
收藏
页码：872 / 875
页数：4
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