Design-of-Motion-Systems.ppt-MAELabsUCSD.pptVIP

Design of Motion Systems N. Delson Analysis in 156A Project Initial Design Measurement of Performance Mathematical Modeling Optimization Re-Design Motion System Components Bearings Actuators Control Bearings The role of a bearing is to allow motion in desired DOF while constraining motion in all other DOF. Good Bearing Systems have: Low friction in the direction of motion Low wobble in constrained DOF. Constraint Design Every 6 DOF of an object needs to be explicitly constrained, if it is not a motion direction. Constraining rotation is usually the hardest and requires 2 contacts points in the plane of rotation. The designer should explicitly choose the contact points, rather than let the part wobble until it hits “something” Linear Slide Design Large distance between bearings is critical! Exact Constraint Design: Robust Bearings at Low Cost Use the minimum necessary number of constraints How many bearings support a shaft? What is the problem with too many constraints? What is the problem with too few? Examples of Exact Constraints Examples of Exact Constraints Examples of Over Constrained Designs Rolling Element Bearings How Ball Bearings Are Made How Precision Shafts Are Made Design of Robust Structures Just like bearing design but all 6 DOF are constrained Rotations cause biggest problems Use large distance between contact points in each plain of rotation. Contact points may not be obvious Motion System Components Bearings Actuators Control Actuators Every actuator has a Torque-Speed curve. Understanding the physics of the actuators is necessary to understand the advantages and disadvantages of each type. Static and dynamic analysis is necessary DC Motors DC brush motors have a linear torque-speed curve Stall torque and no-load speed define curve Power is: Max power is at mid-point Curve needs to be adjusted based upon operating voltage? Motion Analysis Categories Quasi-Static Constant Velocity Dynamic analysis including acceleration and deceleratio