In the design process of lightweight harmonic drive system, low-frequency resonance generally affects controller design, and restricts system servo performance. In the design stage of system, it has great significance that the resonant frequencies and dynamic performances could be predicted. This paper presents a modeling method of harmonic drive system which has low-frequency resonance. Takes an uniaxial harmonic drive system as example to describe the implementation process of the modeling method. The dynamics model of harmonic drive system has been built. Using Ansys, Recurdyn and Matlab, the rigid-flexible coupling dynamics simulation model of system has been established. The simulation model analysis and the actual system experiment have been done respectively. Comparing the simulation and experiment results, it shows that: the open-loop time-frequency domain characteristics and the structural modals of simulation and experiment results are basically consistent. Using this method, the resonant frequency and dynamic performance of harmonic drive system can be predicted in the system design stage, and improve design efficiency.
In modern mechatronic system design process, how to shorten the design schedule and to ensure that the performance of the system designed to meet the indicator has been the focus of attention. This paper presents a mechatronic system co-designing method based on Matlab and Recurdyn. Takes a typical uniaxial direct drive system as example, describes the implementation process of the co-designing method. The dynamics model of direct drive system has been builded, on this basis, the co-simulation model based on Matlab and Recurdyn has been established. Simulates and analyzes time domain and frequency domain characteristics of the co-simulation model in different conditions, and compares simulation results and corresponding experiment results. Comparison results showed that: Open-loop time-frequency domain simulation results and experimental results are basically consistent, amplitude-frequency characteristics matching degree (ACMD) greater than 73%, phase frequency characteristics matching degree (PCMD) greater than 87%, time domain response matching degree (TRMD) greater than 89%. It verifies the validity and correctness of the co-designing method.
Increasing demands regarding the light-weight, high-torque and high-precision actuator are inducing the need for new actuators and new drive principles. This paper introduces a novel principle for transforming the linear motion of high performance piezoelectric actuators into continuous rotation is implemented by two piezoelectric actuators acting on a driving gear covering a driven gear with a slightly smaller diameter. By driving the piezoelectric actuators, the driving gear is energized to move on a circular trajectory around the driven gear which is thereby slowly rotated. Firstly, the structure and driving mechanism is introduced. Secondly, transmission ratio, the demand driving force and displacement are analyzed theoretically and by the means of simulation analysis. Finally, the bottlenecks of mechanism design and machining are presented. Some instructive reference for the structure design of Piezo/Gear compound drive is provided.
Firstly a three degrees of freedom micro-positioning stage constructed by flexure hinges is designed, and the simplified model of the stage is established. Secondly, the stiffness of the stage along X, Y direction or around Z direction is deduced by structural mechanics. The difference between finite element method and theory value is less than 7%, so it shows the theory analysis is feasible, further more, stress of the moving stage is analyzed, and the effect curve of the key parameters to the stiffness and stress is obtained. It can be concluded that the stiffness and stress mainly related with the flexure hinge length L and width t, thus it provide a theoretical basis for three-dimensional micro-positioning stage design.
The positioning performance of high-speed, high-accuracy light-weight motion control systems is usually restricted by the structure flexibility and model parameter-varying caused by load mass variation. It needs to develop novel motion control algorithm to eliminate the residual vibration in the end-effectors, as well as to be robust over the load mass variation. This paper addresses the first and crucial step of this problem, modeling and identification technique. The linear parameter-varying model of the system is constructed and analyzed. The parameters and affine function identification method based on nonlinear least-squares and principle component analysis technique is proposed. The validity of the proposed method is demonstrated through a lightweight machine experimental setup. It is general enough to be applicable to the dynamic behaviors analysis and gain-scheduling robust control design for industrial lightweight vibration suppression and motion control systems that possess flexible elements and variable loads.
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