Modeling, Simulation and Control of a Belt Driven, Parallel H-Frame Type Two Axes Positioning System

TL;DRAbstract

XY-positioning is an important task in industrial applications. The improvement of the speed of positioning while keeping good accuracy can increase productivity and is therefore highly desirable. The studied H-frame system is a parallel xy-positioning device, which due to less moved masses is potentially capable of fast acceleration and therefore faster positioning then traditional stacked systems. One feature of the system which enables its parallel structure is the use of one long timing belt to transmit the power of the two stationary motors to the end-effector position, for practical as well as economical reasons, is not available as feedback signal for controlling the system. This means that even if an accurate tracking pf the desired motor angles was achieved, the end-effector position may still deviate from the desired path, due to stretching in the belt. Another effect making an accurate control difficult is the presence of nonlinear friction in the system. This thesis address

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