Design, Control and Implementation of 2-DOF Motion Tracking Platform using Drive-Anti Drive Mechanism for Compensation of Backlash

This paper is concerned with the elimination/reduction of Backlash, which is a source of problem in precision of mechanical design of tracking platforms. A lot of work has been done to eliminate/reduce backlash and development of harmonic drives, pressurized gears and pre-loaded gears is of great importance, but these techniques for backlash reduction are very expensive and not readily available. Backlash models have been developed and different control schemes using these models are designed, but due to these models control scheme becomes very difficult to implement, so this technique to eliminate backlash is not so feasible. In this research work we have presented new cost effective technique to reduce/eliminate backlash, which is easy to implement, we name this technique as drive-anti drive mechanism. The results illustrate that we have developed two degree of freedom platform using this technique quite successfully. This paper describes all the processes for the simulations and implementation of this scheme.