How to Build Robotic Positioning Systems for Long-Stroke Applications
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Transcript of How to Build Robotic Positioning Systems for Long-Stroke Applications
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How to Build Robotic Positioning Systems for Long-Stroke
Applications
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q This webinar will be available afterwards at www.designworldonline.com & email
q Q&A at the end of the presentation q Hashtag for this webinar: #DWwebinar
Before We Start
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Lisa Eitel Motion Editor — Power Transmission and
Motion Control Design World Magazine
Jean-Paul Beyak Regional Manager, Midwest/Eastern USA & Canada
Director of Sales, Latin America Nexen Group Inc.
How to Build Robotic Positioning Systems for Long-Stroke Applications
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Gantry and robot-positioning systems perform myriad functions:
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RTUs — Sold as pre-engineered assemblies, as custom-engineered systems from integrators, or built from motion components
TranTek
ABB
Milwaukee MachineTool
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Gantry and robot-positioning systems need components that deliver:
High speed •
High positional accuracy •
Low backlash •
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Otherwise, alternative designs also called robot-transfer units (RTUs) use adaptive control to prioritize flexibility …
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RTUs for gantry and precision robot-positioning systems necessitate:
• Low maintenance • Long life • Safety
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The long-stroke applications can use drives with: Belts
Rack-and-pinion sets Linear motors
Ballscrews
... and all drive types have benefits and limitations.
Gantry and robot-positioning RTUs use an array of drive setups
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Check out this example — an RTU that lets one robot automate a whole machine-tool operation:
Gantry and robot-positioning systems abound
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Robot gantries traversing mid-range linear distances use motor+ belt designs— belt drives are quite common on H robots and other gantry setups…
... especially those with shorter strokes
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… so are more common on shorter axes … but there are exceptions to the scalability caveat.
Belt drives in long-stroke applications can be subject to limitations
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— these use framing and linear tracks in various orientations to get more precision from belt drives …
Belt-driven gantry and robot-positioning RTUs exist —
Stroke — 30 ft Payload — 3,000 lb Repeatability — ±0.001 in.
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... So what are some benefits and caveats? Long-stroke applications can also use drives with ballscrew axes …
Peak Analysis & Automation — robot track with ballscrew or linear motor option
Thomson linear ballscrew-driven axes exceed 10-meter strokes
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Long-stroke applications with ballscrew-driven axes must address the challenge with more supports, appropriate diameter, and speed limits …
On longer axes, the main problem is whip—
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Long-stroke applications with screw variations … … just another option:
There are other iterations of screws in seventh-axis setups—
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Consider this option — using linear
actuators driven by servomotors instead
of hydraulics for vertical platform lifts.
One manufacturer decided it was the
only option.
Long-stroke vertical arrangements are also seeing alternative designs
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Motor-driven actuators on the lifts ensured a clean environment for the composite aircraft-hull manufacture.
Electric actuators may come to displace hydraulics for aerospace
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Pneumatic robot transfer units (RTUs) — low-cost solution for A and B
Not to say that fluid power is completely out …
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Accurate though expensive • More common is average-sized gantry setups
Linear motors … always an option
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Eight meters long … reproducible accuracy of ±0.01 mm
Linear motors … here, for a specialty application
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• Higher accuracy; more controllability
Rack-and-pinion sets excel on seventh-axis designs (RTUs)
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Stroke — 30 meters with repeatability to ±0.2 mm!
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• Standard for the longest setups • Length exceeds 50 feet
Rack-and-pinion sets — for the longest RTUs
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• Racks assemble together • Rack-pinion sets maintain accuracy
More rack-and-pinion sets (though note difference in guides + bearings that keep tracks aligned and supported)
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Quick note on software considerations — Programming
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Another quick note on software considerations — Calibration
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Now we’ll hear from Jean-Paul Beyak, regional manager for our sponsor on this topic.
Beyak will explain some of Nexen’s product offerings, including:
• A zero-backlash roller-pinion system in linear-rack and rotary-gear forms • A high-speed PRD Precision Ring Drive indexer
• A compact HG Harmonic Gearhead
Jean-Paul Beyak Regional Manager, Midwest/Eastern USA & Canada
Director of Sales, Latin America Nexen Group Inc.
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Precision Motion Control Solutions for Gantry and Robot Positioning
Systems
Jean-Paul Beyak Eng. BIE, MBA Regional Manager
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Gantry and Robot Positioning Systems
Gantry and Robot Positioning/Transfer Systems require components that provide some or all of the following attributes: high speed, positional accuracy, low backlash, low maintenance, long life and safety. Nexen offers numerous innovative Precision Motion Control products that provide these benefits and integrate well into these types of systems.
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Precision Motion Control Products
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RPS Roller Pinion System
The Precision Roller Pinion System converts rotary motion to linear motion.
Its revolutionary design makes it an excellent choice for applications that require a linear drive system.
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Linear Drive Technologies
• RPS Roller Pinion System • Linear Motors • Ball Screws • Rack and Pinion • Lead Screws • Chain Drives • Belt Drives
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Roller Pinion System (RPS) • High Positional Accuracy (up to 30 µm) • Unlimited Travel Distances (modular) • Extremely High Speeds (up to 11 m/s) • Near Zero Backlash (≤3.2 µm) • Low Maintenance/No Maintenance • Long Life (60,000,000 pinion revs) • Efficient (>99%) • Quiet (≤75 db) • No Magnetic Field
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RPS Pinion Bearing & Roller
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Typical Applications
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Robot Transfer Unit-RTU
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Flow Waterjet and RPS
Theabilitythatitprovidesforournewmodularwaterjetsystem(anindustryfirst)tobeexpandedbycustomersastheirbusinessneedschange,hassingle-handedlywonusthreeorderstotalingoveronemilliondollars.Besidesthesethreeorders,otherpost-salesinterviewswerequicktoiden5fytheNexenRPSsystemasTHEKEYDRIVERoftheirdecisionto"goFlow".OngoingaccuracytestshaveconBnuedtobefantasBcandthesemachinesareturningoutthemostaccuratewaterjetpartstheworldhaseverseen.WeconBnuetobeimpressed,asweincreasinglyseethebenefitsofahigh-precision,backlashfree,highlyefficient,modularmoBonsystemisabletodo.
TIMFABIAN
Manager,GlobalProductMarkeBng
FlowWaterjetAmericas
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Rotary RPS Systems • Accurate Positioning • Near Zero Backlash • High Speed • Arc Segments, Rings &
Fully Programmable Ring Drives
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HG Harmonic Gearhead Industry’s Shortest and Most Compact Automation Gearhead
• Compact-Replace Larger,High-Ratio Planetary Gearheads
• Zero Backlash, Extremely Accurate Save up to 70% or more in Gearhead
length
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Aerospace Gantry Riveting System
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Thank you
www.nexengroup.com
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How to Build Robotic Positioning Systems for Long-Stroke Applications
Questions?
Lisa Eitel
Design World @DW_LisaEitel
Jean-Paul Beyak
Nexen Group Inc. @NexenGroup
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Thank You q This webinar will be available at
designworldonline.com & email
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q Discuss this on EngineeringExchange.com