ENERGY EFFICIENT CONTROL OF DRIVE-ANTI DRIVE MECHANISM

Abstract

Positional uncertainties because of backlash inherent in electromechanical drives make it difficult for manipulators to achieve optimum position, resulting in loss of energy or inaccurate control. This had been a great challenge for researchers long time back because backlash has been a persistent problem between mating gears. Therefore, in order to compete with contemporary developments in field of computer controlled mechanical devices in an efficient manner with invariably erratic demands, accurate control of manipulator is required which is intelligent enough to maintain positional accuracies but is also capable of minimization of losses. Manipulators are required to move an object from one position to another quickly and accurately, such as parts transfer, material handling, and mechanical assembly. But manipulators employ gear trains for power transmission and amplification of torque. However when these drives undergo a change in direction experience backlash which yields loss of power and discontinuity which ultimately results into positional uncertainty. Owing to the importance of accuracy in control of manipulators this research has been carried out to present intelligent Energy efficient control of Drive-Anti Drive mechanism. This high performance Drive-Anti Drive mechanism has been used to eliminate backlash and intelligently controlling it results into minimization of losses. Drive-Anti Drive mechanism has ensured mesh of gear remained intact through utilization of redundant drive. The two most important issues to address in Drive-Anti Drive mechanism are a) how much opposing torque should be applied to ensure to retain gears intact and b) Since opposing torque adds losses so they should be kept at minimum threshold to minimize losses. Since torque control was required to eliminate backlash so current drives were preferred over conventional voltage mode drives.