Motion Control Design of A Molded Pantograph Mechanism with Large Deflective Hinges
The paper deals with a material coherent miniature pantograph mechanism. It consists of large-deflective hinges and links made from Polypropylene by injection molding. Experiments and simulations help to verify and improve an elastic Multi-Body-System model, especially different input motions are applied by a shaker in horizontal direction. Laser sensors provide the signals for parameter identification in time and frequency domain. The verified MBS model allows to design the motion control for a picking and placing task with 150 ms cycle time. An improved trajectory could reduce the dynamic displacement error of the tool point E below 0.1 mm within the placing dwell.
Key wordsmotion control pantograph multi-body-system modelling vibration
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