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• Product: Gantry System
• Analysis Goal: Establishing the digital twin model of the linear handling axes to analyze its structural oscillations

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The current trend to lightweight structures in handling machines offers many advantages (e.g. less energy consumption, faster movements), but due to the decreased stiffness of these structures, more effort needs to be done considering positioning accuracy, including the control of structural oscillations. In order to guarantee the desired accuracy, and also to deepen the understanding of the complex couplings between motions and forces inside its own machines, Güdel decided to enhance its development process by implementing the flexible multi body dynamics simulation tool, RecurDyn.

Process

① To reduce the computational effort, the Gantry System was modeled using as little parameters as possible

② A flexible body based on linear modes (Reduced Flexible body or RFlex body) was used to represent the foot holder and carriage as a combination of mode shapes

③ The axes were modeled as beam elements and the tool-center point is modeled as a rigid body

④ With RecurDyn/MachineTool, the complex coupling between forces and motion related to the rack and pinion could be simulated accurately and efficiently

Key Technologies for Analysis

ㆍ The flexibility of the system needs to be considered to evaluate the position accuracy and oscillations

ㆍ The arbitrary combination of many configurations of the Güdel machine could be modeled easily

Digital twin model of the linear handling axes

Toolkits

ㆍRecurDyn/Professional

ㆍRecurDyn/RFlex

ㆍRecurDyn/RFlexGen

ㆍRecurDyn/Machine Tool

The Problems that Customers are Facing

• Need for a method to implement the new ideas easily and analyze them with reduced building of expensive prototypes

• Modeling of all the modules (the complete system) is indispensable to achieve the desired position accuracy and the better understanding of the oscillations enforced by the complex coupling of forces and motions

Solutions

• With RecurDyn/RFlex and RecurDyn/MachineTool, the entire system can be simulated using a simplified process, and showed good match with the experimental data

• With this RecurDyn model, all components can be easily modeled and the system behavior can be predicted

Outcome

• Many unknown aspects could be understood and thus improvements could be achieved from combining the experimental data of the Gantry System with the derived knowledge from the modeling

• Characteristics of the actuation force calculated by RecurDyn Using a predefined acceleration setpoint (red), different parameter settings were studied and compared to an experimental measurement (blue)

Other Application

◀ Analysis Industrial Robot arm

ㆍChecks the dynamic behavior of a robot arm that includes a control system

ㆍAnalyzes the vibrations and loads applied to the robot's major points to establish a stable production process

ㆍApplies to its structural analysis the load conditions that change when you change the design of the robot system or the operating conditions of an actuator

◀ Circularity Test of the Machine Tool using RecurDyn/MachineTool

ㆍFunctions for standard operations such as ISO circularity test are available

ㆍAnalysis of a motor with controller

ㆍAnalysis of ball screw motion drives, linear guides and bearings