Modeling and simulation for Z-axis force/position-servo system of assembly manipulator

摘要

In this paper, the mathematical model of Z-axis force/position-servo system of assembly manipulator of precise assembly platform for optical lens is established, including the mathematical models of permanent magnet synchronous motor (PMSM) and ball screw of manipulator, and then the friction and gravity disturbance is analyzed and modeled. Finally, the simulation is established to demonstrate the validity of the proposed model. The results show that the jitter of servo system occurs due to the inertia of worktable. Meanwhile, the sliding and scrambling of worktable appear under the disturbance from both the factor friction and gravity.