MATHEMATICAL MODELING AND EXPERIMENTAL IDENTIFICATION OF BACKLASH NONLINEARITY IN PROTOTYPE OF A ROBOT GANTRY WITH ELECTRIC DRIVE AND BALL SCREW TRANSMISSION
Angelo Fernando Fiori1; Ismael Barbieri Garlet1; Odmartan Ribas Maciel1; Andrei Fiegenbaum1; Antonio Carlos Valdiero1; Luiz Antonio Rasia1
1 Universidade Regional do Noroeste do Estado do Rio Grande do Sul - UNIJUÍ
doi:10.20906/CPS/COB-2015-0743
Resumo
The aim of this work is to present a methodology for the experimental identification of the backlash nonlinearity in the Gantry robot prototype with transmission by ball screw and elastic coupling on the electric drive gearbox for alternating current and frequency inverter. The use of robots is associated with productivity, quality and safety so that robots Gantry types have specific applications in load handling tasks (robot winch), laser cutting and machining. The development of robots with lower cost construction forms often require the use of flexible couplings (which allows linear and angular misalignments) as well as lower manufacturing cost components that have a feature off. However these constructive aspects may adversely affect the robot's performance in accurately positioning tasks. The backlash limits the performance and control of mechanical systems causing delays and oscillations, which explains the importance of identifying it. Furthermore, the backlash is a static characteristic present in reversing movement which prevents the coupling between the dynamic and increases the order of the dynamic system. The contribution of this work is the mathematical modeling of robot Gantry prototype with and without nonlinearity of backlash and a methodological proposal for identifying the nonlinear characteristic of backlash in the elastic coupling and the transmission axis ball screw of a prototype robotic manipulator low cost.
Palavras-chave: Backlash Nonlinearity; Robot Gantry; Construction of Prototype; Mathematical Modeling