Moog Animatics Linear Actuators
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Transcript of Moog Animatics Linear Actuators
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OEM Dynamics
Systems integration
Daniel WisemanApplications Engineer
3/28/2012
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What is OEM Dynamics?
• The SYSTEM INTEGRATION division of Moog-Animatics Mission – To provide compact, reliable,
and fully programmable electromechanical solutions to meet any customer requirement at an attractive price
All actuators come with Animatics SmartMotor
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Overview
− Actuator overview and models− Features/benefits/advantages
– Comparisons– Technical Information– Gantry Examples– Website
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Categories
• Harmonic Drive– HLD60
• Ballscrew (Slider)– XL100– L70– VLST
• Ballscrew (Rod-type)– VLCT
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Don’t Forget!
− Animatics is suited to ALL acutator types!− Including those we don’t make
– Conventional Belt– Roller Screw– Block and tackle
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Harmonic Linear Drive (HLD)
No Gearbox Needed!
Saves cost!
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Harmonic Linear Drive (HLD)
No need for Motor Adapters!
Saves EVEN MORE cost!
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Harmonic Linear Drive (HLD)
Nearly ZERO backlash!
60 micron Bi-direction repeatability
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Harmonic Linear Drive (HLD)
No brake required! HIGH THRUST
• Perfect for vertical gravity loads or constant load applications
• Over 420N achievable from SM23165DT motor
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Harmonic Linear Drive (HLD)
• Smallest footprint in its load range
• Compare to conventional ballscrew and belt drives
• Many support rail configurations available
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Harmonic Linear Drive (HLD)
Available Configurations2.5mm/rev (equiv. to 40:1 gearbox)5mm/rev (equiv. to 20:1 gearbox)10mm/rev (equiv. to 10:1 gearbox)12.5mm/rev (equiv to 8:1 gearbox)
Top Speed Increases.
Load Capacity
Increases
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Harmonic Linear Drive (HLD)
Goes Where Others Can’t!• Stroke lengths over 3
meters available• Custom lengths
available in 1mm increments
• Rated speed does not drop off as stroke length increases
Apply as you would a traditional ballscrew without concerns of critical speed limits on long stroke!
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Harmonic Linear Drive (HLD)
Internal Rollers Type
• Fully supported by internal roller wheels
• Smallest profile• Used in specific
applications only, limited loading and moment capability
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Harmonic Linear Drive (HLD)
Single Rail Type
• Higher load capacities and moment load capabilities
• 2x Self-Lubricating, sealed bearing blocks, suitable for dirty environments
• Standard for most apps
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Harmonic Linear Drive (HLD)
Dual Rail Type
• Most robust unit; highest load capacities and moment loading capabilities
• 4x Self-lubricating sealed bearing blocks can handle dirt and dust
• C-Channel carriage for maximum configurability
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Harmonic Linear Drive (HLD)
How does it work?
Drive End
Idle End
Carriage Pulleys
Differing diameters of the pulleys cause a harmonic gearing effect
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Harmonic Linear Drive (HLD)
Mechanical Concept
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Harmonic Linear Drive (HLD)
ACME Screws Ball-ScrewsHLD
high static-load considerable dynamic thrust
very difficult to back-drive
have the highest static thrust load capability not easy to back-drive
have the highest driving thrust load capability but easy to back-drive
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Harmonic Linear Drive (HLD)
Competitive analysisNote: There are NO direct competitive products to the
HLD anywhere. It is unique!Offers benefits of both belt-driven AND ballscrew driven systems!
Conventional Belt• System price• Speed• Length
Ball-Screw/Lead Screw• Precision• Thrust• Static Load
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Harmonic Linear Drive (HLD)
Actuator Types and Comparisons
Mechanical Comparisons For Equivalent Power, (assumes no additional gear reduction)
Actuator Type Efficiency Thrust Back-drive-ability Speed ACME Screws Very Difficult Ball-Screws Easy HLD Difficult Belt Drives Easy Rack & Pinion Easy
For Equivalent Application to same load and speed
Actuator Type Positioning Accuracy Cost ACME Screws Good $$Ball-Screws Best $$$$HLD Extremely good $$Belt Drives (w/gear head) OK $$$Rack & Pinion OK $$
LowestCost-to-Performance
Available
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Harmonic Linear Drive (HLD)
Ideal applications
• Long-stroke Medium to High Speed applications• Medium to High Thrust applications• Wherever High Stiffness (in direction of travel) is needed• Where ball-screws cost too much• In vertical loads where back-drive is a problem• In tight holding applications such as:
• Back-stop gauges• Material saw stop jigs• Long-stroke high thrust gantries
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Harmonic Linear Drive (HLD)
Part Numbering Scheme
H3-<STROKE>-<PITCH><RAIL>-<MOTOR>-<OPTION>
• H3 – HLD designator• STROKE – from 112mm to 3200mm!• PITCH – in mm/rev• RAIL – A, B, E for none, single, or dual rail respectively• MOTOR – SM23165DT standard, others available• OPTION – Coded for communications, orientations, etc.
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L70 Single-Rail Ballscrew
L70
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L70 Single Rail Ballscrew
Key Features• 5mm or 10mm /rev Ball-Screw• Up to 600mm Stroke• Up to 200N Dynamic Thrust Load• Maximum Stroke to Total-Length Ratio• Minimal Cross-Section w/Small Footprint• Open-sided for Easy Mounting• Directly Stackable in X-Y Configuration• Direct mount to HLD
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L70 Single Rail Ballscrew
L70 XY-Demo KitX-Y configuration with SM23165Ds
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L70 Single Rail Ballscrew
Competative Analysis
• Note: Although there are similar sized Ball-Screw Actuators, due to the mounting flexibility and open side, the L70 stands on its own as a viable alternative to conventional open framed Actuators.
• The open side makes it completely unique in the market
• Actuators comparable in cross-section are typically machined rail-body types with far less moment loading or thrust ratings
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XL100 Dual Rail Ballscrew
XL100
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XL100 Dual Rail Ballscrew
Feature Overview• 5mm or 10mm Ball-Screw• Up to 600mm Stroke• Up to 200N Dynamic Thrust Load• Easy Mounting “Waist” Access Holes• Wide Dual Rail Support for High Moment Loading• Directly Stackable in X-Y Configuration• Up to 6 Limit Switches
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XL100 Dual Rail Ballscrew
X-Y configuration with SM23375Ds
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XL100 Dual Rail Ballscrew
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XL100 Dual Rail Ballscrew
Competitive Analysis• More robust- Higher moment capability compared to L70
• Closed frame
• Highest accuracy & repeatability of ballscrew line
• The XL100 has the appearance of a precision stage and yet has the price of a conventional Actuator.
• Note: XL100 does not have the high flatness/straightness specs of a true linear stage. It is an actuator.
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XL100 Dual Rail Ballscrew
Gantries
L70 3 Axis Gantry with
slave follower
axis
HLD60 with L70
T-nuts and toe-clamps slide into extrusion slots
HLD60-TN12M
HLD60-TC2
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OEM Dynamics Comparisons
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VL-ST Actuators
• VL-ST60 • VL-ST45
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VL-ST Actuators
Feature Overview• 2 sizes: VL-ST45 or VL-ST60 • 6 mm or 12 mm leads available• Strokes lengths up to 700 mm• Enclosed actuator with seal strip• Up to 491 N continuous thrust and 788 peak thrust
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VL-CT Rod-type Actuators
• Pulley Offset Direct Drive
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VL-CT Rod-type Actuators
Feature Overview• Available in 2 configurations: pulley offset or direct
drive• Pulley Offset: 3:1, 2:1 or 1:1 ratio• 3 sizes: VL-CT35, VL-CT45 or VL-CT55• 6 mm or 12 mm leads available• Strokes lengths up to 300 mm• Up to 737 N continuous thrust and 1182 peak thrust• Replacement for pneumatic cylinders
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Questions?