The approach to stability determination of single axis positioning regulation for the model of TTT manipulator

Abstract

Razni modeli manipulatora često se koriste u industrijskim pogonima i tehnologijama. Prikazana je mogućnost uporabe i usporedbe novih metoda upravljanja aktuatorima. Za izvedeni TTT manipulator neophodno je utvrditi standardne kataloške podatke. Glavna karakteristika pri upotrebi ovakvih manipulatora je njihov stabilan odziv u regulaciji pozicioniranja. Pokusno mjerenje provodi se s različitim mehaničkim opterećenjima, uglavnom koncentriranih u okolini standardnog mehaničkog opterećenja korištenog za simulaciju modela industrijskih pogona. Prikazani su rezultati provedenog eksperimenta najveće dostupne stabilne brzine koračnog motora za najopterećeniju os modela TTT manipulatora. Određivanje stabilnosti provedeno je do dvostrukog standardnog mehaničkog opterećenja. Najveću utvrđenu stabilnu brzinu motora moguće je koristiti za sve ostale osi bez utjecaja na stabilnost obzirom da je eksperiment proveden za mehanički naojopterećeniju os.The various models of manipulators are commonly used in industry plants and technologies. Possibility of applying and comparing such new methods is presented for actuator control. For produced TTT (Translation-Translation-Translation) manipulator it is necessary to determine standard catalogue information. The main issue in usage of such manipulators is stabile positioning regulation. The test survey is conducted with various mechanical loads, mainly concentrated in close surrounding of standard mechanical load used for simulations of industry models. Results of the highest available stabile speed of stepper motor are presented for the worst axis case of the model of TTT manipulator. The stability determination is conducted up to double standard mechanical load. The result of highest stabile motor speed can be applicable on all other axis with no influence on stability, since experiment is conducted on most mechanically loaded axis