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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Dynamic Modeling of a Two-Axis, Parallel, H-Frame-Type XY Positioning System
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Dynamic Modeling of a Two-Axis, Parallel, H-Frame-Type XY Positioning System

机译：两轴，平行，H框架型XY定位系统的动态建模

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摘要

XY positioning is an important task in industrial applications. This paper addresses the dynamic modeling of a belt-driven, parallel-type XY positioning system constructed in the form of a capitalized H. The system uses one long timing belt to transmit the rotation of two stationary motors to end-effector motion. Due to less moved masses, the studied H-frame system is potentially capable of fast acceleration, and therefore, faster positioning than traditional stacked systems. The use of an elastic transmission element also causes the biggest disadvantage of the system, which is an uncertainty of end-effector position due to stretching in the belt. Thus, the objective of this paper is to develop a dynamic model that can capture the response of this system. Using Lagrange's method, an eighth-order lumped parameter dynamic model of the stage motion is derived. The effect of nonlinear friction in the pulleys and cart motion is added to the model. The response of the model was simulated in MATLAB Simulink, and the model prediction is compared with real data obtained from the developed system. The results show that the model can accurately predict the dynamics of the developed H-frame positioning system.
机译：XY定位是工业应用中的重要任务。本文讨论了以大写字母H形式构造的皮带驱动，平行型XY定位系统的动态建模。该系统使用一条长正时皮带将两个固定电动机的旋转传递到末端执行器运动。由于移动的物体较少，因此研究的H框架系统可能具有快速加速的能力，因此比传统的堆叠系统具有更快的定位速度。弹性传动元件的使用还引起系统的最大缺点，这是由于皮带中的拉伸导致末端执行器位置的不确定性。因此，本文的目的是开发一个可以捕获该系统响应的动态模型。使用拉格朗日方法，得出了舞台运动的八阶集总参数动力学模型。滑轮中的非线性摩擦和推车运动的影响已添加到模型中。在MATLAB Simulink中模拟了模型的响应，并将模型预测与从已开发系统获得的真实数据进行了比较。结果表明，该模型可以准确地预测已开发的H框架定位系统的动力学。

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