Advancing the development of precision automation™

 

 

Precision Linear Motion Design II

Course Outline

Precision Linear Motion Design I | Precision Linear Motion Design II

Realities of Motion Control

Registration | About the Speaker

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Section 1: System Error Budgets

• Error Sources
  • Bearing, Drive, Feedback, Thermal and Assembly
• Error Budget for Single Axis
• Error Budget for Compound Axes
  • X-Y, X-Y-Z

Section 2: Bearing Sizing

• Linear Bearing Fatigue
  • Fatigue Life and Mean Load Formula, Life Factors
• System Analysis (two rail, four modules)
  • Model with Forces Applied in All Directions (X-Y-Z)
  • Summary of Radial Forces, Lateral Forces and Moments
• Bearing Sizing Example
• System Stiffness (two rail, four modules)
  • Translation and Rotation Stiffness (roll, pitch, yaw)

Section 3: Actuator Sizing

• Ballscrew and Leadscrew Introduction
• Maximum Rotation and Linear Speed
  • Critical Speed Formula, DN Value, Example Calculation
• Linear Drive Resolution
• Ballscrew Fatigue Life
  • Fatigue Life and Mean Load Formula, Life Factors
  • Axial Forces for Horizontal and Vertical Applications
• Axial Stiffness of Drive Assembly
  • Ballscrew Shaft/Nut Stiffness and Total Drive Stiffness Formula
• Self-Locking/Backdriving Formula

Section 4: Rotary Motor Sizing

• Rotary Motor Introduction
• Steps for Sizing Rotary Motors
• Review of Motion Profiles with Kinematic Equations
• Torque Equations: Constant, Acceleration, Peak and RMS
• Discussion of Speed vs. Torque Curves
• Motor Sizing Example

Section 5: Linear Motor Sizing

• Linear Motor Introduction
• Steps for Sizing Linear Motors
• Review of Motion Profiles with Kinematic Equations
• Force Equations: Constant, Acceleration, Peak and RMS
• Continuous Power and Maximum Motor Temperature
• Continuous Current, Peak Current and Amplifier Voltage
• Gantry Motor Sizing

Section 6: Stage Settling Time

• Open Loop Model without Friction
  • Review of Laplace Transforms
  • Settling Time Approximations
• Open Loop Model with Friction
• Comparison of Open Loop Models
• Servo Settling
  • Servo Model Development
  • Transient Response of Servo Model
  • Settling Time Approximations
  • Servo Settling Example

Section 7: Stage Resonance

• Servo System Stability
  • Frequency Response, Bode Plots
• Coupling Resonance
• Linear Resonance
• Mitigating Resonance

Copyright 2002-2003, Advanced Motion Concepts, Inc.
All Rights Reserved

Last modified: June 4, 2003