Measurements of the mechanical system properties of "SpeedLine magnetic" ultra-fast robot prototype for IML labeling

The mechanical system tests of the high-speed IML labeling robot "SpeedLine Magnetic" were carried out in order to analyze the effects of the drive system's operating parameters on vibration and noise.
Linear synchronous motors with permanent magnets were used to drive the main axis of the robot. The tests were carried out for several characteristic sets of parameters influencing the robot's duty cycle. Measurements were made for the following sets of robot duty cycle parameters:

Parameter

#1

#2

#3

#4

#5

#6

#7

#8

#9

speed [m/s]

4,9

4,9

4,9

4,5

4,5

4,5

4,9

4,9

4,9

acceleration [m/s2]

60

45

60

45

60

30

30

45

45

deacceleration [m/s2]

60

45

60

45

60

30

30

45

45

Jerk [m/s3]

400

400

500

400

400

400

400

300

500

The ST LSM6DSOX sensor was mounted in two places: on the arm of the ultra-fast labeling robot in the IML technology and on the structure of the robot's base. The ST LSM6DSOX sensor was configured in accordance with the table below:

Parameter

Value

Time of measurement

infinite

Power mode

high performance

Measurement frequency

6666.6 Hz

Low pass filter

none

High pass filter

none

Range

±8 g

In the designation of the file, the first number indicates the place of measurement, the second number is a set of duty cycle parameters. The first row is the header and contains information about columns and units. In the following lines there are values separated by commas.
accX [mg] – acceleration in the X direction in units mg,
accY [mg] – acceleration in the Y direction in units mg,
accZ [mg] – acceleration in the Z direction in units mg,
hh:mm:ss.ms – time (CET) in the format hour: minute: second.milisecond, as the sampling frequency was set to 6666.6 Hz, the file should contain approx. 6 lines with the same time.
Axis orientations
Sensor mounting location

(1) robots arm

(2) robot base

X-axis

along the direction of arm movement,towards the extended arm

perpendicular to the direction of movement,towards the control cabinet

Y-axis

perpendicular to the direction of movement,towards the control cabinet

along the direction of arm movement,towards the wall

Z-axis

towards the floor

towards the floor

Several sequences of machine motion were measured for each measuring step. One sequence consists of two forward movements of the arm for half the length of the linear actuator and one backward movement of the entire length of the linear actuator.
The research was carried out as part of the “Ultraszybki robot do technologii IML” (Ultra-fast robot for IML technology) (POIR.01.01.01-00-1177 / 17)