0
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
Your Session has timed out. Please sign back in to continue.

References

Park, H., Kim, S., Park, J., and Hong, D., 2001, “Dynamics of Dual Drive Servo Mechanism,” Proceedings. ISIE 2001. IEEE International Symposium on Industrial Electronics, Pusan, Korea, June 12–16, Vol. 3, pp. 1996–2000.
Hong, J., Kim, Y., and Ha, I., 2007, “Simplified Time-Optimal Path Planning of XY-Gantry Systems Along Circular Paths,” Automatica, 44(1), pp. 149–156. [CrossRef]
Lin, C., Wu, C., and Hwang, C., 1993, “Tracking Control of a Motor-Piezo XY Gantry Using a Dual Servo Loop Based on ILC and GA,” IEEE Trans. Rob. Autom., 9(2), pp. 152–165. [CrossRef]
Babaie, M., and Khanzadi, M., 2007, “Precision Motion Control for an X-Y Table Using the LOLIMOT Neuro-Fuzzy Friction Compensation,” IEEE International Conference on Robotics and Biomimetics (ROBIO 2007), Sanya, China, Dec. 15–19, pp. 2300–2304.
Lim, H., Seo, J.-W., and Choi, C.-H., 2000, “Position Control of XY Table in CNC Machining Center With Non-Rigid Ballscrew,” Proceedings of the 2000 American Control Conference, Chicago, IL, June 28–30, pp. 1542–1546.
Weikert, S., Ratnaweera, R., Zirn, O., and Wegener, K., 2011, “Modeling and Measurement of H-Bot Kinematic Systems,” American Society for Precision Engineering, Denver, CO.
Sollmann, K., Jouaneh, M., and Lavender, D., 2010, “Dynamic Modeling of a Two-Axis, Parallel, H-Frame-Type XY Positioning System,” ASME Trans. Mechatron., 15(2), pp. 280–290. [CrossRef]
Armstrong-Helouvry, B., Dupont, P., and Canudas De Wit, C., 1994, “A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines With Friction,” Automatica, 30(7), pp. 1083–1138. [CrossRef]
Ginsberg, J., 2008, Engineering Dynamics, Cambridge University, New York.
Craig, K., 2011, “Friction: Modeling, Identification and Analysis,” (presentation).
Prisco, J., 2013, “Dynamic Modeling of a Belt Driven Electromechanical XY Plotter Cutter,” Master's thesis, Marquette University, Milwaukee, WI.

Figures

Grahic Jump Location
Fig. 1

Industrial XY plotter cutter

Grahic Jump Location
Fig. 2

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

Grahic Jump Location
Fig. 3

The physical model of the gantry developed from the physical system

Grahic Jump Location
Fig. 4

Block diagram of system configuration for measurement and control

Grahic Jump Location
Fig. 5

Experimental data versus simulated data for a nominal 3.5 lbf tension

Grahic Jump Location
Fig. 6

Physical system for media feed motor and gear train

Grahic Jump Location
Fig. 7

Physical system for media feed for medial rollers

Grahic Jump Location
Fig. 8

Physical model for media feed

Grahic Jump Location
Fig. 9

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

Grahic Jump Location
Fig. 10

Experimental versus simulated versus command data for detuned rectangle

Grahic Jump Location
Fig. 11

Experimental versus simulated versus command data for detuned star

Grahic Jump Location
Fig. 12

Experimental versus simulated versus command data for detuned oval

Grahic Jump Location
Fig. 13

Experimental versus simulated versus command data for tuned star

Grahic Jump Location
Fig. 14

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

Grahic Jump Location
Fig. 15

Experimental versus simulated versus command data for tuned oval

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In