The effect of friction on the positioning processes of intelligent executive devices (actuators)

Abstract

This manuscript discusses the positional systems used in intelligent robots. One of the characteristic problems that arise in such systems is associated with friction, including sticking during the process. Friction greatly affects the positioning accuracy of the actuators of controlled robots, especially if a pneumatic actuator is used as a motor. The work is devoted to the study and solution of this problem. Since it is impossible to completely eliminate the effect of friction, ways to minimize this effect are being investigated using a targeted choice of system parameters. For this purpose, the method of multicriteria optimization of a detailed mathematical model is applied on the example of a pneumatic positional system, as the most sensitive to friction. The paper considers the first stage of optimization associated with visualization and preliminary analysis of the process in order to prepare it for performing a system procedure. The dynamics equations of an intelligent positional system are written out, both in full-size and dimensionless one. The most convenient mathematical model of friction is presented terms of its use in the process of optimizing the entire control system. A procedure for visualizing the optimization process in the form of a graphical interface has been developed. The first stage of the intelligent drive system optimization procedure has been carried out. The paper presents at which parameters of the control system the “stick-slip” effect has less influence on the positioning process.