Andreas Kellner, Peter Hehenberger,
"Hierarchical system modeling for an industrial gantry robot"
: Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014, Karlstad University, Sweden, 6-2014
Original Titel:
Hierarchical system modeling for an industrial gantry robot
Sprache des Titels:
Englisch
Original Buchtitel:
Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014
Original Kurzfassung:
In this contribution, guidelines and methods for the
model based design of an industrial gantry robot using the
hierarchical modeling approach are presented. Gantry robots
can be used for the feeding and sampling of workpieces which
are processed in machine tools. The aim of the modeling is to
verify the deflection of the gantry arm in consideration of the
robots whole system with all of its mechatronics influences. The
goal of this investigation was the identification of the weak
points of the structure, resulting in large deflections of the
gantry arm. This builds the basis for a further structural
improvement of the system. The first part of the paper provides
an overview on the methods of the hierarchical modeling
approach. After that, the models which were created for each
component of the robot are explained and the simulation results
are discussed. In the following chapter the creation and
simulation of the behavior of the system model is shown step by
step. At the end, conclusions and future prospects for the
hierarchical modeling approach are made.