关键词: 双电机, 消隙, 机械臂, 精度

Abstract: Typical nonlinear backlashes widely existed in the robot servo systems. In order to reduce the backlash's impacts on system performance, tandem manipulator adopted anti-backlash technology with dual-motor master-slave drives. Firstly, nonlinear elastic dead-zone model of the backlash was establish based on the basic principles and structure of dual-motor backlash system. Then, the Simulink model which used dual-motor bias torque control strategy for anti-backlash was establish,according to the dynamics formula based on the dual-motor system, and the algorithm framework and servo system hardware circuit schematic of the system were given at the same time.Finally, the principle of emulation was carried out, based on the engineering design actual parameters, the tandem manipulator system was verified, which used the dual-motor anti-backlash technology for accuracy test through laser tracker. Simulation and experimental results show that: the mathematical model reflects the basic characteristics of the actual systems, the end accuracy of the tandem manipulator whose workspace is 4.5 m reaches 1.2 mm, that meets performance requirements of the engineering applications.

Key words: dual-motor, anti-backlash, manipulator, accuracy