1107 High Speed Positioning for Ball Screw Driving Table using Two-degree-of Freedom Control

This paper presents a novel two-degree-of-freedom (DOF) translational parallel robot for high-speed applications named the IRSBot-2 (acronym for IRCCyN Spatial Robot with 2 DOF). Unlike most two-DOF robots dedicated to planar translational motions, this robot has two spatial kinematic chains which confers a very good intrinsic stiffness. First, the robot architecture is described. Then, its actuation and constraint singularities are analyzed. Finally, the IRSBot-2 is compared to its two-DOF counterparts based on elastostatic performances.

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Motion control of a two-axis linear motor-driven stage in the micro-milling process

Proceedings of the Institution of Mechanical Engineers Part E Journal of Process Mechanical Engineering ◽

10.1177/0954408916683976 ◽

2016 ◽

Vol 232 (1) ◽

pp. 65-76

Author(s):

Mohammad S Heydarzadeh ◽

Seyed M Rezaei ◽

Noor A Mardi ◽

Ali Kamali E

Keyword(s):

Kalman Filter ◽

High Speed ◽

Linear Motor ◽

Degree Of Freedom ◽

Micro Milling ◽

Proportional Integral Derivative ◽

Direct Drive ◽

Proportional Integral Derivative Controller ◽

Proportional Integral ◽

Two Degree Of Freedom

The application of linear motor-driven stages as the feed drivers of CNC micro milling machine tools is growing. In addition to employ high speed and high precision equipment such as linear motor-driven stages, the precision of the machined contours is highly dependent on the capabilities of the servo controllers. In this paper, the design of a precise controller for a two-axis LMDS has been investigated for micro-milling applications. In such feed drives, disturbances such as friction, force ripples, and machining forces have adverse effects on the workpiece positioning precision due to the direct drive concept behind them. Therefore, in order to have an acceptable transient response and disturbance rejection properties, a two-degree-of-freedom proportional–integral–derivative controller was employed for each axis. To design this controller, the zero-placement method was used. To compensate disturbances and machining contour errors, the utilization of Kalman filter observers, neural networks, cross-coupled controllers, and different integration of them were studied. The controllers were experimentally examined for circular motions. An integrated controller consisted of a Kalman filter disturbance observer, a cross-coupled controller, and a well-designed two-degree-of-freedom proportional–integral–derivative controller resulted in a high contouring and tracking precision. The controller could also reduce the spikes caused by the friction at the motion reversal points such as the quadrants in circle trajectories.

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Ultra-high speed positioning control of a gravure engraving unit using a discrete-time two-degree-of-freedom H∞ control

Control Engineering Practice ◽

10.1016/s0967-0661(02)00011-4 ◽

2002 ◽

Vol 10 (7) ◽

pp. 783-795 ◽

Cited By ~ 4

Author(s):

Mitsuo Hirata ◽

Donghao Tang ◽

Kenzo Nonami ◽

Hideaki Ogawa ◽

Yoshihiro Taniguchi

Keyword(s):

Discrete Time ◽

High Speed ◽

Degree Of Freedom ◽

Positioning Control ◽

Ultra High Speed ◽

Two Degree Of Freedom

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High-Speed Positioning Control for Hard Disk Drives Based on Two-Degree-of-Freedom Control.

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C ◽

10.1299/kikaic.62.1848 ◽

1996 ◽

Vol 62 (597) ◽

pp. 1848-1856 ◽

Cited By ~ 7

Author(s):

Jun ISHIKAWA ◽

Toshiro HATTORI ◽

Masanobu HASHIMOTO

Keyword(s):

High Speed ◽

Hard Disk Drives ◽

Hard Disk ◽

Degree Of Freedom ◽

Disk Drives ◽

Positioning Control ◽

Two Degree Of Freedom

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Study of Thermal Expansion of a Vertical Motion Ball-Screw System Operated at High Rotational Speed

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.642.307 ◽

2015 ◽

Vol 642 ◽

pp. 307-310

Author(s):

Sheng Hao Hung ◽

Chin Chung Wei

Keyword(s):

Thermal Expansion ◽

High Speed ◽

Vertical Motion ◽

Contact Forces ◽

Ball Screw ◽

Positioning Error ◽

High Rotational Speed ◽

Contact Areas ◽

Transmission Distance ◽

Screw Driving

A ball-screw system is widely used in high speed transmission platforms. High transmission speed brings high frictional force, heat and thermal expansion occurring on contact areas of ball, screw and nut. Positioning error of platform is affected by the thermal expansion during linear transmission. A vertical motion of ball-screw driving system was used for high speed transmission test. Thermal expansion of screw and positioning error were measured for discussion their effects. Cyclic vertical motion during a long transmission distance, 2 km, will integrate thermal heat to ball, screw and nut, thermal expansion of screw is also occurred. From experiments, temperature rising and thermal expansion of screw and nut were recorded and calculated for estimate elongation and positioning error of a vertical motion high speed ball-screw. Positioning error is not totally respected thermal elongation effects of screw and nut owing to contact forces caused by wear and thermal expansion at contact areas comparing to the heavy axial load is relative small in a vertical motion ball-screw system. Therefore, the structure stiffness is not affected significantly by thermal effect and wear.

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