【摘 要】
：
Friction torque is the main factor to influence stability and precision of multi-axis linkage system when it is slow running.The value of friction torque is
【机 构】
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Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System,Xi'an Jiaotong Univ
【出 处】
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The 5th International Conference on Nonlinear Science and Co
论文部分内容阅读
Friction torque is the main factor to influence stability and precision of multi-axis linkage system when it is slow running.The value of friction torque is primarily related to shafting structure,load,motion state and other factors,and presents highly nonlinear characteristics.In this paper,satellite-bone multi-axis linkage system in a microgravity environment is taken as the study object,focusing on the coupling tribo-dynamics issues of influencing the system's precision.The shafting structure features of 2-DOF vertical axes turntable and the source of friction torque are studied.The corresponding tribo-dynamic model is established that shows motion process of multi-axis linkage system is a coupling process of tribology and dynamics.In order to eliminate the effect of friction torque fluctuations,friction compensation based on Stribeck friction model is introduced.Then tracking accuracy of the visual axis is about 40″(large movement range: 0~20°).For the imperfect situation of friction compensation,local actuator is introduced to combine with wide-range basic actuator to realize the accurate movement with small range.Then the tracking accuracy of visual axis is expected to reach 2 "to 4"(small movement rang: 60 "to 120").
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