Abstract
Planar parallel mechanism is commonly used in planar precision positioning platform. Its precision is influenced by the nonlinear factors such as friction, clearance and the elastic deformation, especially the accuracy of the driven joint, directly affects the positioning precision of the platform. The content of this study is proposed one kind of the positioning joint which directly driven by the ultrasonic linear motor and its control method. Because driven directly on the ultrasonic linear motor, which making the driven joint has a quick response, no clearance, and realize the submicron positioning accuracy. In this paper, the drive characteristics of ultrasonic linear motor have been studied, and the model of ultrasonic linear motor has been established, also identify the transfer function of the motor. This paper used the integral separation PID algorithm to control the joint, experiments shows that the accuracy of this system can satisfy the precision positioning.
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© 2014 Springer International Publishing Switzerland
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Mo, J., Qiu, Z., Wei, J., Zhang, X. (2014). Experimental Study on Joint Positioning Control of an Ultrasonic Linear Motor Driven Planar Parallel Platform. In: Zhang, X., Liu, H., Chen, Z., Wang, N. (eds) Intelligent Robotics and Applications. ICIRA 2014. Lecture Notes in Computer Science(), vol 8918. Springer, Cham. https://doi.org/10.1007/978-3-319-13963-0_5
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DOI: https://doi.org/10.1007/978-3-319-13963-0_5
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-13962-3
Online ISBN: 978-3-319-13963-0
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