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Motion Control Design of A Molded Pantograph Mechanism with Large Deflective Hinges

  • Thomas Thümmel
  • Robert Huber
  • Mikio Horie
  • Chikara Ishikawa
Conference paper
Part of the Solid Mechanics and its Applications book series (SMIA, volume 130)

Abstract

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 words

motion control pantograph multi-body-system modelling vibration 

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References

  1. [1]
    Horie, M., Uchida, T. and Kamiya, D., A Pantograph Mechanism with Large-Deflective Hinges for Miniature Surface Mount Systems. In: Proceedings of ROMANSY 13 — Theory and Practice of Robots and Manipulators in Zakopane 2000, Springer-Verlag, Vienna, 2002, pp. 93–102.Google Scholar
  2. [2]
    Ishii, Y., Thümmel, T. and Horie, M., Modelling and Simulation of a Molded Pantograph Mechanism with Large-Deflective Hinges and Links. In: Proceedings of the 11th World Congress in Mechanism and Machine Science, Tianjin, China, April 1–4, 2004, Vol. 3, pp. 1437–1441.Google Scholar
  3. [3]
    Horie, M., Palmtop Surface Mount System Composed of Molded Pantograph Mechanisms with Large-Deflective Hinges and Links Using in a One-Room Factory. In: Proceedings of the 4th International Workshop on Microfactories (IWMF 2004), Shanghai, China, October 15–17, 2004, Vol. 1, pp. 98–103.Google Scholar

Copyright information

© Springer 2005

Authors and Affiliations

  • Thomas Thümmel
    • 1
  • Robert Huber
    • 1
  • Mikio Horie
    • 2
  • Chikara Ishikawa
    • 2
  1. 1.Institute for Applied MechanicsTechnical University of MunichGermany
  2. 2.Precision and Intelligence LaboratoryTokyo Institute of TechnologyJapan

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