A design guideline for robust high performance axes

Dimensioning of axis is a recurring task in mechatronic system design. This calls for a standardized design process to guarantee the specified performance, and a short development time. This process defines checklists to collect all necessary data, calculation tools, and design reviews. This paper focuses on the implemented calculation guidelines. These guidelines are aimed at a systematic layout and design of multi-axis products in an industrial environment. The considered system consists of an actuator, a gear, a spindle, and a load to be moved. After a short presentation of the considered actuator characteristics, we focus on the proper dimensioning of the gear ratio. Two methods are presented which take into account the actuator characteristics including thermal restrictions. The gear ratio is optimized to minimize move times while ensuring a robust behavior of the closed loop controlled system. Furthermore we derive a criterion to determine an adequate spindle pitch. To complete this paper two trajectory strategies are discussed which take into account the actuator characteristics.