Measurements of the mechanical system properties of "SpeedLine magnetic" ultra-fast robot prototype for IML labeling
Description
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, |
perpendicular to the direction of movement, |
Y-axis |
perpendicular to the direction of movement, |
along the direction of arm movement, |
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)
Dataset file
hexmd5(md5(part1)+md5(part2)+...)-{parts_count}
where a single part of the file is 512 MB in size.Example script for calculation:
https://github.com/antespi/s3md5
File details
- License:
-
open in new tabCC BYAttribution
- Raw data:
- Data contained in dataset was not processed.
Details
- Year of publication:
- 2021
- Verification date:
- 2021-08-27
- Dataset language:
- English
- Fields of science:
-
- mechanical engineering (Engineering and Technology)
- Automation, electronic and electrical engineering (Engineering and Technology)
- DOI:
- DOI ID 10.34808/myhh-zf59 open in new tab
- Verified by:
- Gdańsk University of Technology
Keywords
- IML
- vibrations measurements
- industrial robots
- linear motor
- permanent magnet synchronous motor
- vibrations
- accelerometrs
- acceleration measurement
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