Tehnički vjesnik, Vol. 21 No. 5, 2014.
Izvorni znanstveni članak
The approach to stability determination of single axis positioning regulation for the model of TTT manipulator
Igor Petrović
; Technical college in Bjelovar, Trg Eugena Kvaternika 4, 43000 Bjelovar, Croatia
Tomislav Pavlic
orcid.org/0000-0001-5133-0665
; Technical college in Bjelovar, Trg Eugena Kvaternika 4, 43000 Bjelovar, Croatia
Ante Čikić
; Technical college in Bjelovar, Trg Eugena Kvaternika 4, 43000 Bjelovar, Croatia
Sažetak
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.
Ključne riječi
automation; stability mode; translation manipulator
Hrčak ID:
129052
URI
Datum izdavanja:
29.10.2014.
Posjeta: 1.534 *