Improving The Motion Parameters Of The Production Mechanism Link By Microvibration

Abstract

The paper is devoted to the search for a method of improving the resulting movement of the production mechanism (industrial robot) output link with an individual frequency-controlled electric drive in the presence of friction forces in kinematic pairs. Particular attention is paid to the output link movement in the low-speed zone and the frequency-controlled electric drive operation mode with the formation of pulsating moments on the induction motor output shaft due to the stator current harmonics. To correct the working body movement in the start-brake operation modes of an induction motor, the authors of the paper proposed to use a voltage source inverter dual-mode control, providing programmable control of the induction motor stator current harmonic amplitudes of the induction motor and the rotor vibration amplitudes corresponding control by using of a multiple m -submodulation of the voltage source inverter carrier frequency. Software control of the induction motor stator current harmonic amplitudes has provided a of the effective friction coefficient in the guides and the degree of interaction of the friction torques acting in the production mechanism. The degree of influence was studied at different frequencies of the stator current in the low-frequency zone and a in the static load torque of an induction motor. The use of controlled microvibration of the induction motor rotor allows to conditionally change the friction force of the mobility link, reduce the drive power to overcome friction forces, expanding the scope of a voltage source inverter dual-mode control.