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Integrated mechatronics design of flexure joint and controller in dual-drive gantry: A constrained H2 optimization approach

机译:双驱动器龙门弯曲和控制器的集成机电一体化设计:受约束的H2优化方法

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The dual-drive H gantry is widely used in many industrial processes that require high precision Cartesian motion. The conventional rigid-link version suffers breaking down of joints if any de-synchronization between the two carriages occurs. To prevent above potential risk, a novel biaxial gantry with flexure-links is designed to allow a small rotation angle of the cross-arm. Nevertheless, the chattering of control signals and inappropriate design of the flexure joint will possibly induce resonant modes of the end effector. Thus, in this work, the design requirements in terms of tracking accuracy, biaxial synchronization, and resonant mode suppression are achieved by integrated optimization of the stiffness of flexures and PID controller parameters for a class of point-to-point trajectories with same dynamics but different steps. From here, an H optimization with defined constraints is formulated, and an efficient iterative solver is proposed by hybridizing direct computation of constrained projection gradient and line search of optimal steps. Comparative experiments results obtained on the testbed are presented to verify the effectiveness of proposed method.
机译:双驱动器H龙门架广泛用于许多需要高精度笛卡尔运动的工业过程中。如果发生两个托架之间的任何解除同步,则传统的刚性链接版本遭受了关节的损失。为了防止高于潜在风险,设计具有挠性环节的新型双轴架,以允许交叉臂的小旋转角度。然而,控制信号的抖动和弯曲接头的不恰当设计将可能引起末端执行器的共振模式。因此,在这项工作中,通过对具有相同动态的一类点对点轨迹的弯曲和PID控制器参数的刚度进行整合优化来实现在跟踪精度,双轴同步和谐振模式抑制方面的设计要求。不同的步骤。从这里,配制了具有定义约束的H优化,并且通过将约束的投影梯度和线路搜索的最佳步骤杂交的直接计算来提出有效的迭代解器。提出了在试验台上获得的比较实验,以验证所提出的方法的有效性。

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