NDLI: Dynamic Modeling of a Two-Axis, Parallel, H-Frame-Type <emphasis emphasistype=italic>XY</emphasis> Positioning System

Content Provider	IEEE Xplore Digital Library
Author	Sollmann, K.S. Jouaneh, M.K. Lavender, D.
Copyright Year	1996
Abstract	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.
Starting Page	280
Ending Page	290
Page Count	11
File Size	876096
File Format	PDF
ISSN	10834435
Volume Number	15
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-04-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mathematical model Predictive models Nonlinear dynamical systems Belts Timing Acceleration Uncertainty Lagrangian functions Friction Pulleys XY positioning system Belt drive dynamic modeling H-frame
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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