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首页> 外文会议>Transactions of the North American Manufacturing Research Institution of SME >OPEN-LOOP VELOCITY PLANNING TO MITIGATE THE STICTION EFFECT IN PUSHING POSITIONING
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OPEN-LOOP VELOCITY PLANNING TO MITIGATE THE STICTION EFFECT IN PUSHING POSITIONING

机译：开环速度规划，以缓解定位中的位置效应

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摘要

Actuation by pushing has been studied as both an economic and flexible alternative to traditional pick-and-place part positioning. Pushing actuation reduces the need for specialized end effector tooling, and can simplify the underlying automation mechanism (e.g., a 2-DOF rotational positioner in place of a 6-DOF robot). However, the interaction of the positioning command with the nonlinear behavior of sliding friction introduces a new source of position error. The stick-slip effect of friction (i.e., stiction) reduces local controllability in precision positioning applications. In this paper, we describe a method for identification of dominant stiction frequency across a range of actuation velocities and compensation of the input command signal to avoid actuating the part at or near the stiction frequency. The result when compared with simple constant-velocity actuation is a reduction in variation of actuating force and an improvement in achievable position accuracy through more consistent control of part sliding at end-of-actuation-stroke.
机译：已经研究了通过推动致动来替代传统的拾放部件定位，既经济又灵活。推动致动减少了对专用末端执行器工具的需求，并可以简化底层的自动化机制（例如，使用2自由度旋转定位器代替6自由度机器人）。然而，定位命令与滑动摩擦的非线性行为的相互作用引入了位置误差的新来源。摩擦的粘滑效应（即静摩擦）降低了精密定位应用中的局部可控性。在本文中，我们描述了一种在整个驱动速度范围内识别主要静摩擦频率并补偿输入命令信号以避免在静摩擦频率或静频率附近致动零件的方法。与简单的恒定速度致动相比，结果是通过更一致地控制致动行程末端的零件滑动，减少了致动力变化并提高了可达到的位置精度。

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