| 同步带传动机械手的建模与振动控制研究 |
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| 引用本文： | 熊根良,胡泓,张春慨. 同步带传动机械手的建模与振动控制研究[J]. 机械传动, 2006, 30(6): 58-60 |
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| 作者姓名： | 熊根良 胡泓 张春慨 |
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| 作者单位： | 哈尔滨工业大学深圳研究生院,广东,深圳,518055;哈尔滨工业大学深圳研究生院,广东,深圳,518055;哈尔滨工业大学深圳研究生院,广东,深圳,518055 |
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| 摘 要： | 为了实现硅片在测试过程中的自动传输,设计了一种同步带传动的机械手.由于同步带的柔性,在运动的过程中不可避免的带来振动.为了得到平稳的运动,建立了同步带传动机械手的数学模型,从机械设计和控制算法两方面来抑制机械手的振动,并通过计算机仿真进行了验证.
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| 关 键 词： | 同步带传动 机械手 振动 柔性 |
| 文章编号： | 1004-2539(2006)06-0058-03 |
| 修稿时间： | 2005-09-09 |
Modeling and Vibration Control of a Manipulator with Synchronous Belt Transmission |
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| Xiong Genliang,Hu Hong,Zhang Chunkai. Modeling and Vibration Control of a Manipulator with Synchronous Belt Transmission[J]. Journal of Mechanical Transmission, 2006, 30(6): 58-60 |
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| Authors: | Xiong Genliang Hu Hong Zhang Chunkai |
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| Abstract: | In order to accomplish automatically transmission of the wafer during test, a manipulator with synchronous belt transmission is designed. Because of the flexibility of the synchronous belt, the vibration is inevitable during movement. In order to get the smooth motion, the mathematical model of the manipulator with synchronous belt transmission is built, and utilize the mechanical design and control algorithm to restrain the vibration, the vibration is examined based on the computer simulations. |
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| Keywords: | Synchronous belt transmission Manipulator Vibration Flexibility |
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