A Dynamic Analysis of an Adjustable Conveying Machine : Vibration, Control Engineering, Engineering for Industry

Abstract

In the previous paper, the synthesis of a planar adjustable 9-link mechanism was reported, as a practical example of an automatic conveying machine which generates an L-path. It has been found that the driving system of the above-mentioned machine, which is constructed of an analog computer, an induction motor, a magnetic power clutch and brake, is so complicated that the system made the response worse, and that positioning errors of the machine hand at the edge points of the path increase. In this paper, a 12-link adjustable mechanism is proposed, which is made by joining a 4-link mechanism to the input link of the above 9-link mechanism, for the purpose of making the crank motion uniform in one direction and simplifying the electric controller of the driving system. Moreover, an optimum distributed mass and moment of inertia of the input link is determined so as to minimize the input torque. The dynamic characteristics of the machine are also investigated theoretically and experimentally. As a result, the velocity response and the positioning accuracy of the machine hand at the edge points of the path can be greatly improved.