可調整搬送機の動特性の解析

概要

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As reported in the previous paper, a synthesis of a planar adjustable 9-link mechanism was carried out, as a practical example of an automatic conveying machine which generates an L-path. It has been found that the driving system of the above mentioned which is constructed of an analog computer, induction motor, magnetic power clutch and brake is so complicated that the system has made a response worse ; and that positioning errors of the machine hand at the edge points of the path have increased. In this paper, a 12-link adjustable mechanism is proposed, which is made by joining a 4-link mechanism to the input link of the above 9-link mechanism for the purpose of making the crank motion uniform in one direction and simplifying the electric controllor of the driving system. Moreover, an optimum distributed mass and moment of inertia of the input link is determined so as to minimize the input torque ; and the dynamic characteristics of the machine are investigated theoretically and experimentally. As a result, the velocity response and the positioning accuracy of the machine hand at the edge points of the path have been improved greatly.
一般社団法人日本機械学会の論文
1986-09-25