표제지
Abstract
요약
목차
제1장 서론 15
제2장 입력성형 이론 및 ZV입력성형기 설계 17
2.1. 이론적 배경 17
2.2. ZV입력성형기 20
제3장 원호보간 입력성형 모델링 및 시뮬레이션 22
3.1. 원호보간 입력성형 시스템 모델 22
3.2. 원호보간 입력성형 시뮬레이션 27
3.2.1. 시뮬레이션 조건 27
3.2.2. 대조군 Case 0 - 원호보간 기존 ZV입력성형 29
3.2.3. 원호보간 기존 ZV입력성형 적용의 문제점 34
3.2.4. 개선방안 Case 1 - 감속 적용 37
3.2.5. 개선방안 Case 2 - 감속, Delay Time 적용 41
3.2.6. 개선방안 Case 3 - 감속, Delay Time, 보상함수 적용 45
제4장 실험 49
4.1. 실험장비 49
4.2. 측정항목 53
4.2.1. 고유진동수 53
4.2.2. 이동 궤도 53
4.2.3. 진동데이터 54
4.3. 실험장비 신뢰성 검증 55
4.4. 실험결과 56
4.4.1. 대조군 Case 0 56
4.4.2. 속도프로파일 59
4.4.3. 진동데이터 59
4.4.4. 이동 궤도 61
제5장 결론 64
참고문헌 65
Table 3.1. Laplace Transform of Circular Interpolation on X-axis 25
Table 3.2. Laplace Transform of Circular Interpolation on Y-axis 25
Table 3.3. Input Shaping Experiments of Circular Interpolation 28
Table 3.4. Area of Circular Arc 36
Table 3.5. Area of Circular Arc 40
Table 3.6. Area of Circular Arc 44
Table 3.7. Area of Circular Arc 48
Table 4.1. Experiment Equipment Specification 52
Table 4.2. Coordinate and Distance at Vmax=200mm/s 63
Fig 2.1. Input Shaping Process 18
Fig 2.2. Comparison of Vibration on Input Shaping 19
Fig 2.3. Circular Interpolation Input Shaping Process 21
Fig 3.1. Vibration System Model on Two Degree of Freedom 22
Fig 3.2. Circular Interpolation Velocity Profile 24
Fig 3.3. Circular Interpolation Trajectory 27
Fig 3.4. Velocity Profile at Vmax= 50mm/s 30
Fig 3.5. Velocity Profile at Vmax= 100mm/s 30
Fig 3.6. Velocity Profile at Vmax= 200mm/s 31
Fig 3.7. Vibration at Vmax= 50mm/s 32
Fig 3.8. Vibration at Vmax= 100mm/s 32
Fig 3.9. Vibration at Vmax= 200mm/s 33
Fig 3.10. Trajectory of Circular Arc 35
Fig 3.11. Trajectory of Circular Arc at Starting Point 35
Fig 3.12. Trajectory of Circular Arc at Ending Point 36
Fig 3.13. Velocity Profile at Vmax= 200mm/s 38
Fig 3.14. Trajectory of Circular Arc 39
Fig 3.15. Trajectory of Circular Arc at Starting Point 39
Fig 3.16. Trajectory of Circular Arc at Ending Point 40
Fig 3.17. Velocity Profile at Vmax= 200mm/s 41
Fig 3.18. Trajectory of Circular Arc 42
Fig 3.19. Trajectory of Circular Arc at Starting Point 43
Fig 3.20. Trajectory of Circular Arc at Ending Point 43
Fig 3.21. Compensation Function 46
Fig 3.22. Velocity Profile at Vmax= 200mm/s 46
Fig 3.23. Trajectory of Circular Arc 47
Fig 3.24. Trajectory of Circular Arc at Starting Point 47
Fig 3.25. Trajectory of Circular Arc at Ending Point 48
Fig 4.1. Circular Interpolation Experiment Equipment: XY Stage and Sensor 50
Fig 4.2. Circular Interpolation Experiment Equipment: Oscilloscope 51
Fig 4.3. Circular Interpolation Experiment Concept 52
Fig 4.4. Velocity Profile at Vmax= 100mm/s 55
Fig 4.5. Velocity Profile at Vmax= 200mm/s 57
Fig 4.6. X-axis Vibration at Vmax= 200mm/s 57
Fig 4.7. Y-axis Vibration at Vmax= 200mm/s 58
Fig 4.8. Case 3 Velocity Profile at Vmax= 200mm/s 59
Fig 4.9. Case 3 X-axis Vibration at Vmax= 200mm/s 60
Fig 4.10. Case 3 Y-axis Vibration at Vmax= 200mm/s 60
Fig 4.11. Trajectory of Circular Arc 61
Fig 4.12. Trajectory of Circular Arc at Starting Point 62
Fig 4.13. Trajectory of Circular Arc at Ending Point 62
(2.1) [제목없음] 20
(2.2) [제목없음] 20
(2.3) [제목없음] 20
(2.4) [제목없음] 21
(2.5) [제목없음] 21
(3.1) [제목없음] 23
(3.2) [제목없음] 23
(3.3) [제목없음] 23
(3.4) [제목없음] 26