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Compliant joints for the improvement of the dynamic behaviour of a gantry stage with direct drives

Treść / Zawartość
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Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
Gantry stages, which consist of two parallel acting servo drives, are commonly used in machine tools. One drawback of this concept is the crosstalk between both drives due to the structural coupling that can cause stability issues and therefore limits the bandwidth of the position control. This paper deals with the development of compliant joints to solve the coupling between the drives. When compared to solutions containing bearings, the advantages of such flexible elements are low friction and the absence of backlash. To adjust the properties of the joints, packages of spring-steel-sheets are used as compliant links. One design aspect of the flexible joints is a low stiffness relating to the rotation around one specific axis, but a high stiffness relating to the other degrees of freedom. With this method, the dynamic behaviour of the gantry stage is modified and the bandwidth of the controllers can be increased. Additionally, by releasing the mechanical coupling of the drives, the reaction forces the actuators have to provide can be reduced. Both systems with flexible and with rigid connecting elements, are analysed by measured frequency response functions.
Rocznik
Strony
17--29
Opis fizyczny
Bibliogr. 21 poz., rys., tab.
Twórcy
  • Technische Universität Dresden, Faculty of Mechanical Science and Engineering, Institute of Mechatronic Engineering, Chair of Machine Tools Development and Adaptive Controls, Dresden, Germany
  • Technische Universität Dresden, Faculty of Mechanical Science and Engineering, Institute of Mechatronic Engineering, Chair of Machine Tools Development and Adaptive Controls, Dresden, Germany
autor
  • Technische Universität Dresden, Faculty of Mechanical Science and Engineering, Institute of Mechatronic Engineering, Chair of Machine Tools Development and Adaptive Controls, Dresden, Germany
autor
  • Technische Universität Dresden, Faculty of Mechanical Science and Engineering, Institute of Mechatronic Engineering, Chair of Machine Tools Development and Adaptive Controls, Dresden, Germany
  • Technische Universität Dresden, Faculty of Mechanical Science and Engineering, Institute of Mechatronic Engineering, Chair of Machine Tools Development and Adaptive Controls, Dresden, Germany
  • Fraunhofer Institute for Machine Tools and Forming Technology IWU, Dresden, Germany
Bibliografia
  • [1] BELL D.J., LU T.J., FLECK N.A., SPEARING S.M., 2005, MEMS Actuators and Sensors: Observations on Their Performance and Selection for Purpose, Journal of Micromechanics and Microengineering, 15/7, 153–164.
  • [2] BHARGAV S.D.B., JORAPUR N., ANANTHASURESH G.K., 2015, Micro-Scale Composite Compliant Mechanisms for Evaluating the Bulk Stiffness of MCF-7 Cells, Mechanism and Machine Theory, 91, 258–268.
  • [3] SÖNMEZ Ü., 2007, Compliant MEMS Crash Sensor Designs: The Preliminary Simulation Results, IEEE Intelligent Vehicles Symposium.
  • [4] ELFIZY A.T., BONE G.M., ELBESTAWI M.A., 2005, Design and Control of a Dual-Stage Feed Drive, International Journal of Machine Tools and Manufacture, 45/2, 153–165.
  • [5] YAO Q., DONG J., FERREIRA P.M., 2007, Design, Analysis, Fabrication and Testing of a Parallel-Kinematic Micropositioning XY Stage, International Journal of Machine Tools and Manufacture, 47/6, 946–961.
  • [6] KANG D., GWEON D., 2012, Development of Flexure Based 6-Degrees of Freedom Parallel Nano-Positioning System with Large Displacement, Review of Scientific Instruments, 83/3, 035003.
  • [7] TIAN Y., SHIRINZADEH B., ZHANG D., 2010, Design and Dynamics of a 3-DOF Flexure-Based Parallel Mechanism for Micro/Nano Manipulation, Microelectronic Engineering, 87/2, 230–241.
  • [8] KIM D., KANG D., SHIM J., SONG I., GWEON D., 2005, Optimal Design of a Flexure Hinge-Based XYZ Atomic Force Microscopy Scanner for Minimizing Abbe Errors, Review of Scientific Instruments, 76/7, 073706.
  • [9] LI Y., XU Q., 2011, A Totally Decoupled Piezo-Driven XYZ Flexure Parallel Micropositioning Stage for Micro/ Nanomanipulation, IEEE Transactions on Automation Science and Engineering, 8/2, 265–279.
  • [10] BONO M., HIBBARD R., 2007, A Flexure-Based Tool Holder for Sub-µm Positioning of a Single Point Cutting Tool on a Four-Axis Lathe, Precision Engineering, 31/2, 169–176.
  • [11] CIBLAK N., LIPKIN H., 2003, Design and Analysis of Remote Center of Compliance Structures, Journal of Robotic Systems, 20/8, 415–427.
  • [12] GIAM T.S., TAN K.K., HUANG S., 2007, Precision Coordinated Control of Multi-Axis Gantry Stages, ISA Transactions, 46/3, 399–409.
  • [13] SENCER B., MORI T., SHAMOTO E., 2013, Design and Application of a Sliding Mode Controller for Accurate Motion Synchronization of Dual Servo Systems, Control Engineering Practice, 21/11, 1519–1530.
  • [14] PEUKERT C., PÖHLMANN P., MERX M., MÜLLER J., IHLENFELDT S., 2019, Modal-Space Control of a Linear Motor-Driven Gantry System, MM Science Journal, 12/4, 3285–3292.
  • [15] KOTA S., JOO J., LI Z., RODGERS S.M., SNIEGWSKI J., 2001, Design of Compliant and Mechanisms: Applications and to MEMS, Analog Integrated Circuits and Signal Processing, 29/1–2, 7–15.
  • [16] PEUKERT C., MERX M., MÜLLER J., IHLENFELDT S., 2017, Flexible Coupling of Drive and Guide Elements for Parallel-Driven Feed Axes to Increase Dynamics and Accuracy of Motion, Journal of Machine Engineering, 17/2, 77–89.
  • [17] IHLENFELDT S., MÜLLER J., MERX M., PEUKERT C., 2019, Kinematically Coupled Force Compensation - Experimental Results and Advanced Design for the 1D-Implementation, Journal of Manufacturing and Materials Processing, 3/24, 1–13.
  • [18] HOWELL L.L., MAGLEBY S.P., OLSEN B.M., 2013, Handbook of Compliant Mechanisms, John Wiley & Sons, Chichester.
  • [19] LOBONTIU N., PAINE J.S.N., GARCIA E., GOLDFARB M., 2001, Corner-Filleted Flexure Hinges, Journal of Mechanical Design, 123/3, 346–352.
  • [20] HOPKINS J.B., CULPEPPER M.L., 2010, Synthesis of Multi-Degree of Freedom, Parallel Flexure System Concepts Via Freedom and Constraint Topology (FACT) – Part I: Principles, Precision Engineering, 34/2, 259–270.
  • [21] MACFARLANE A.G.J., POSTLETHWAITE I., 1977, The Generalized Nyquist Stability Criterion and Multivariable Root Loci, International Journal of Control, 25/1, 81–127.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-e48f6fc0-4e16-4901-84bd-aa709aedfed2
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