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Technical Briefs

Comparison of Polynomial Cam Profiles and Input Shaping for Driving Flexible Systems

[+] Author and Article Information
William Singhose

e-mail: Singhose@gatech.edu
George W. Woodruff School of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332-0405

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received January 15, 2012; final manuscript received June 5, 2012; published online November 15, 2012. Assoc. Editor: James Schmiedeler.

J. Mech. Des 134(12), 124505 (Nov 15, 2012) (7 pages) doi:10.1115/1.4007797 History: Received January 15, 2012; Revised June 05, 2012

Polynomial profiles can be used as reference commands to limit induced vibration in flexible systems. Due to their ease of design and low-pass filtering effects, polynomial profiles are often found in cam-follower systems. Polynomial profiles have also been used as smooth reference commands for automated machines. However, despite extensive work to develop and improve such profiles, inherent tradeoffs still exist between induced vibration, rise time, and ease of design. Input shaping is an alternative method for generating motion commands that reduce residual vibration. This paper compares polynomial profiles to input-shaped commands for the application of reducing vibration in flexible systems. Analyses using Laplace transforms reveal that input shapers suppress vibration at regularly spaced frequencies. However, polynomial profiles do not share this property. Simulations and experimental results show that input shaping improves rise time and reduces residual vibration in comparison to polynomial profiles.

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Figures

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Fig. 1

Cam-follower system

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Fig. 2

The input-shaping process

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Fig. 3

Magnitude of 3-4-5 polynomial CFT

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Fig. 4

Difference between sequential zeros of Fig. 3

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Fig. 5

3-4-5 polynomial profile responses

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Fig. 6

Response of a one-mode system (1 Hz) to ZV-shaped commands

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Fig. 7

Residual vibration amplitudes

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Fig. 8

Experimental rise time

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Fig. 9

Experimental robustness

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