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Technical Brief

Dynamic Modeling of a Belt Driven Electromechanical XY Plotter Cutter

[+] Author and Article Information
Joseph V. Prisco

Department of Mechanical Engineering,
Marquette University,
Milwaukee, WI 53233
e-mail: joseph.prisco@marquette.edu

Philip A. Voglewede

Department of Mechanical Engineering,
Marquette University,
Milwaukee, WI 53233
e-mail: philip.voglwede@marquette.edu

Hunting is oscillation around the position set point.

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received October 17, 2013; final manuscript received August 18, 2014; published online January 12, 2015. Assoc. Editor: Tae-Won Park.

J. Comput. Nonlinear Dynam 10(2), 024501 (Mar 01, 2015) (7 pages) Paper No: CND-13-1255; doi: 10.1115/1.4028334 History: Received October 17, 2013; Revised August 18, 2014; Online January 12, 2015

Current industrial XY plotter cutters that use a belt driven gantry for the X motion and media feed for the Y motion do not perform adequately in high precision applications. Mathematical models for these plotter cutters are not publicly available and thus the parameters critical to cut quality are not well understood. This paper develops a simple dynamic, electromechanical model for the gantry arm and media feed using first principles and a nonlinear friction model. A rectangle, star, and oval are simulated using both a detuned and tuned controller and compared to experimental results. The effectiveness of the model is demonstrated with good agreement between theoretical and experimental results for both controllers.

Copyright © 2015 by ASME
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References

Figures

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Fig. 1

Industrial XY plotter cutter

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Fig. 2

Physical system of the XY plotter cutter with each major component labeled

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Fig. 3

The physical model of the gantry developed from the physical system

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Fig. 4

Block diagram of system configuration for measurement and control

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Fig. 5

Experimental data versus simulated data for a nominal 3.5 lbf tension

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Fig. 6

Physical system for media feed motor and gear train

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Fig. 7

Physical system for media feed for medial rollers

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Fig. 8

Physical model for media feed

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Fig. 9

Experimental versus simulated data for 10, 20, and 30 rad step inputs using the media feed

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Fig. 10

Experimental versus simulated versus command data for detuned rectangle

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Fig. 11

Experimental versus simulated versus command data for detuned star

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Fig. 12

Experimental versus simulated versus command data for detuned oval

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Fig. 13

Experimental versus simulated versus command data for tuned star

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Fig. 14

Experimental versus simulated versus command data for tuned start showing error in bottom right corner

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Fig. 15

Experimental versus simulated versus command data for tuned oval

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