片持ち梁積載構造をもつ搬送機の振動抑制のためのジャーク制御(機械力学,計測,自動制御)

概要

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High productivity is commonly required in manufacturing processes. For this purpose, we need to run machines at high speed. However, high-speed motion usually generates vibration in positioning and then makes the settling time long. For this reason, various control strategies have been proposed for high-speed motion and vibration suppression at the same time. In this paper, we deal with a mechanical transfer system with a loading beam, which is widely used in manufacturing processes. We represent the system as composed of three rigid parts, that is, a driving unit, a hand, and a work. The driving unit and the hand are connected by an elastic timing belt. The work is loaded on a flexible beam which is connected rigidly to the hand. When the driving unit moves the hand, the work is vibrated not only in the translational motion but also in the bending motion because of the flexibility of the beam. We apply the idea of jerk reduction control to the hand for vibration suppression of the work and shortening the settling time in positioning. We show the effectiveness of jerk reduction of the hand by numerical simulations for a finite element model.
社団法人日本機械学会の論文
2010-02-25