Ensuring of the industrial robot link motion accuracy parameters in the low-speed zone

Abstract

Introduction. The article is devoted to the search for a method of reducing the effect of friction links mobility industrial robot PR (production mechanism PM) with frequency-controlled electric drive (FCED) on the static error (accuracy) positioning of the working body (WB) when moving in a low speed zone. The random character of friction forces changes in the implementation process start-braking modes of induction motor (IM) operation create difficulties in performance specified technological process parameters. The formation of pulsating moments on the IM shaft, due to the stator IM current harmonics, combined with the friction torque of the moving parts in the IR (IM) guide, accompanied by a deterioration of the WB (IM output link) movement dynamics.Materials and Methods. To correction the motion of the WB (PM output link) in the IM start-brake modes, the authors proposed to use dual-mode control of the Autonomous voltage inverter (AVI), providing software control of the IM stator current harmonics amplitudes and the corresponding regulation of the pulsating moments on the IM shaft by introducing a multiple "m — submodulation" of the AVI carrier frequency (CF). Results. The simplified representation of the FCED block diagram with local and global negative feedbacks (GNF) allowed to reveal the features of specific parameters influence on the static error δ and the FCED dynamic stability with the limiting gain of the corrective amplifier K1. Discussion and Conclusions. The introduction of rotor "microvibration", allows the IM "conditionally reduce" the moving link friction force in the guides, reduce the drive power to overcome the friction forces. The use of dual-mode control AVI expands the scope of use of scalar control in process equipment, multi-link mechanisms of automated production, operating in the zone of "low and creeping speeds".