Original scientific paper

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

Abstract

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.

Keywords

automation; stability mode; translation manipulator

Hrčak ID:

129052

URI

https://hrcak.srce.hr/129052

Publication date:

29.10.2014.

Article data in other languages: croatian

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