High Speed and High Precision Control of Mechatronics Systems Using Liquid Crystalline Polymers

在大多数电动机器人中，每个关节都是通过一个减速器(如谐波传动)驱动的。由于包括这些减速器的驱动系统的弹性，许多工业机器人在运行过程中存在严重的振动行为和残余振动问题。本研究开发了使用液晶聚合物的可变粘滞阻尼器来抑制工业机器人和机电系统的振动。所获得的结果如下：(1)开发了一种采用液晶聚合物的可变阻尼器的机器人系统。对于所开发的系统，通过在阻尼器上施加电场，为了保持系统的鲁棒稳定性，采用了鲁棒控制理论中的混合灵敏度设计方法设计了控制器，结果表明，施加电场可以实现高增益的位置控制，并进行了控制实验，获得了良好的响应。(3)研制了采用液晶聚合物可变阻尼器的DD电机系统，实验证实其伺服刚度可以达到无阻尼器情况下的十倍。

In most electric-powered robots, each joints is driven through a reduction gear unit such as harmonic drive.Because of the elasticity of the driving systems including these reduction gear units, serious problems of vibrational behavior during operation and residual vibration are being caused with many of industrial robots.In this study variable viscous dampers using liquid crystalline polymers are developed to suppress vibration of industrial robots and mechatronics systems.The obtained results may be summarized as follows :(1) A robot system was developed which has a variable damper using liquid crystalline polymers.For the developed system, by applying an electric field to the damper, it is shown that the influence of the resonance and antiresonance of a 2-inertia system is lowered.(2) In order to maintain the robust stability, a controller is designed by a mixed sensitivity design method of the robust control theory.As a result, it was shown that the applying an electric field makes high-gain position control possible.Then, control experiments were carried out, and good responses are obtained.(3) The DD motor system was developed which has a variable damper using liquid crystalline polymers.It was experimentally confirmed that the servo stiffness can be ten times as high as the one in the case without the damper.