Actuating drive for positioning a rotary element

Details Actuating drive for positioning a rotary element Actuating drive for positioning a rotary element

1989-05-02

1991-05-07

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Multiple mode systems

318594, 318 49, G05B 1118

Patent

active

050139860

ABSTRACT:
A rotary element (10) such as a robot arm is to be positioned by an actuating drive to a position determined by a desired value signal. An angle pick-off (20) provides an actual value signal. A first controller (36) provides a first controller output signal through an adaptive transfer element with limitation. The first controller output signal is applied to a first torque motor (18) the rotor of which is directly connected with the rotary element (10). A second controller (38) provides a second controller output signal, which is applied to a second torque motor (22). The second torque motor (22) is connected with the rotary element (10) through a step down system (26) and a resilient coupling member (30). A coupling path (40) with an integrator applies a trimming signal dependent on the input of the first torque motor (18) to the input of the second torque motor (22). The second torque motor (22) through the step down system (26) provides a coarse positioning under load, while the first torque motor (18) provides a fine positioning independent of friction and play of the step down system.

REFERENCES:
patent: 2798992 (1957-07-01), Adler et al.
patent: 2922991 (1960-01-01), Frank
patent: 3995206 (1976-11-01), Aronstein et al.
patent: 4297624 (1981-10-01), Komiya
patent: 4300078 (1981-11-01), Pascal

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