Simple and robust feedforward compensation of quadrant glitches using a compliant joint
| Autor: | Xingjian Liu, Deokkyun Yoon, Chinedum E. Okwudire, Xin Dong |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering Bearing (mechanical) business.industry Mechanical Engineering Feed forward 02 engineering and technology Quadrant (instrument) Industrial and Manufacturing Engineering law.invention 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Control theory law Magnet Motion direction business Simulation |
| Zdroj: | CIRP Annals. 66:353-356 |
| ISSN: | 0007-8506 |
| DOI: | 10.1016/j.cirp.2017.04.048 |
| Popis: | Quadrant glitches commonly occur when rolling/sliding bearings are used in precision motion stages. Compensating them accurately using feedforward control is challenging due to the need for complex friction models, and the variability of on-machine friction dynamics. This paper shows that quadrant glitches can be accurately and robustly compensated with simple friction models by attaching the bearing to the moving table using a joint that is very compliant in the motion direction. Design of a prototype joint that achieves high compliance by combining a positive-stiffness flexure with negative-stiffness permanent magnets is presented. Large reductions in quadrant glitches are demonstrated in experiments. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
Full Text from ScienceDirect