A 6-DEGREES OF FREEDOM FINE MOTION MECHANISM

被引：8
|
作者：
HENMI, N
SATO, K
WADA, S
SHIMOKOHBE, A
机构：
[1] Shimokohbe lab., Precision and Intelligence Lab., Tokyo Institute of Technology, Midoriku, Yokohama, 227
来源：
MECHATRONICS | 1992年 / 2卷 / 05期
关键词：
D O I：
10.1016/0957-4158(92)90010-L
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The purpose of the study is to accomplish the six-degrees of freedom (dof) fine motion mechanism which has the characteristics that each of the six one-dof motions has the same control characteristics, that the number of actuators is the same and least for each one-dof motion and that each one-dof motion does not interfere in the others. First, the paper discusses a design method for the mechanism. Then an experimental mechanism is introduced to justify the design method. Open loop transient characteristics of the six one-dof motions of the mechanism are same, though the interferences are observed between the motions. Finally, the six one-dof motions of the mechanism are controlled with the controllers designed taking only one of the six one-dof motions into account. The same control characteristics of the five one-dof motions as those used for the controller design are realized. Namely, it is shown that a controller for each motion does not need to be designed individually. Both of the state and dynamic interferences were eliminated with the control.
引用
收藏
页码：445 / 457
页数：13
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