新型混合直接驱动的机器人关节精密定位系统*

作者：华 亮1，2，吴 晓1，冯 浩2 日期：2008-04-17/span> 浏览：3172 查看PDF文档

新型混合直接驱动的机器人关节精密定位系统*
华 亮1，2，吴 晓1，冯 浩2
（1.南通大学 电气工程学院,江苏 南通 226007； 2.浙江工业大学 智能信息研究所,浙江 杭州 310032）

摘 要：充分利用电磁电机和超声波电机各自的优点，提出了一种新型混合直接驱动系统。该系统采用步进电机与行波超声波电机分时直接驱动机器人关节，通过两阶段定位控制，可实现机器人关节高精度、长寿命、大行程、开环精密定位。实践证明，将电磁电机与超声波电机相结合的思想具有很好的研究价值和应用前景。
关键词：直接驱动；步进电机；行波超声波电机；电磁机构；微步控制

Highprecision positioning system of robot joint based on novel composite direct driving mechanism
HUA Liang1，2, WU  Xiao1, FENG  Hao2
(1.College of Electrical Engineering, Nantong University, Nantong 226007, China;
2.Institute of Intelligent Information, Zhejiang University of Technology, Hangzhou 310032, China)

Abstract: According to the advantage of electromagnetic mechanism and traveling wave ultrasonimotor, a novel composite direct driving mechanism design method was put forward to drive robot joint using single stepping motor and traveling wave ultrasonic motor.The highprecision position system which subdivides the control process to two step has features of openloop precision positioning, longevity, largestroke, better maintainability and it has broad prospect in research and application.
Key words: direct driving; stepping motor; traveling wave ultrasonic motor(TRUSM); electromagnetic mechanism; microstep control