Tham khảo tài liệu 'mcgraw-hill - robot mechanisms and mechanical devices illustrated part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 14 Chapter 1 Motor and Motion Control Systems Figure 1-15 Flexible shaft couplings adjust for and accommodate parallel misalignment a and angular misalignment between rotating shafts b . Figure 1-16 Bellows couplings a are acceptable for light-duty applications. Misalignments can be 9 angular or 1 4 in. parallel. Helical couplings b prevent backlash and can operate at constant velocity with misalignment and be run at high speed. The structure on which the motion control system is mounted directly affects the system s performance. A properly designed base or host machine will be highly damped and act as a compliant barrier to isolate the motion system from its environment and minimize the impact of external disturbances. The structure must be stiff enough and sufficiently damped to avoid resonance problems. A high static mass to reciprocating mass ratio can also prevent the motion control system from exciting its host structure to harmful resonance. Any components that move will affect a system s response by changing the amount of inertia damping friction stiffness or resonance. For example a flexible shaft coupling as shown in Figure 1-15 will compensate for minor parallel a and angular b misalignment between rotating shafts. Flexible couplings are available in other configurations such as bellows and helixes as shown in Figure 1-16. The bellows configuration a is acceptable for light-duty applications where misalign Chapter 1 Motor and Motion Control Systems 15 ments can be as great as 9 angular or z in. parallel. By contrast helical couplings b prevent backlash at constant velocity with some misalignment and they can also be run at high speed. Other moving mechanical components include cable carriers that retain moving cables end stops that restrict travel shock absorbers to dissipate energy during a collision and way covers to keep out dust and dirt. Electronic System Components The motion controller is the brain of the motion control system and performs all of
