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1 September 1990 Backlash control techniques in geared servo mechathcs
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Backlash (deadzone) and gear train resonances limit geared drive accuracy and dynamic performance. Although direct drives provide a solution, there are many applications where torque requirements, configuration, weight, and cost prevent practical application. In the past, a number of methods have been utilized to minimize the negative effects of backlash, usually on a specific application basis, with the results poorly reported and correlated. Through proper characterization of the drive problem, selection of mechanical and electrical drive components and utilization of modem control techniques, high performance zero backlash geared servo mechanisms can be designed and manufactured with predictable results. The purpose of this paper is to present an approach to accomplish this task. The steps in this task are listed as follows: 1 . Definition of the available methods of implementation. 2. Presentation of factors in selecting the most effective approach for the specific application. 3. Selection of drive components and definition of system parameters including the necessary control requirements, determining performance limits, and setting the maximum backlash and torque-bias levels. 4. Performance analysis of a representative system. 5. Generation of a simulation program representing a test system. 6. Utilization of the simulation program to determine performance of future requirements to include capability of parameter variance to evaluate "what if" conditions.
© (1990) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Bruce J. Black "Backlash control techniques in geared servo mechathcs", Proc. SPIE 1304, Acquisition, Tracking, and Pointing IV, (1 September 1990);

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