The measurement of properties of mechatronics chain in serial configuration

The subject of this paper is the analysis of properties of the mechatronic chain. That chain was represented by the mechanical system where the particular mechanical elements were linked in serial satisfying this setup: electric servomotor - mechanical gearbox - cam - load. The mechanical and the electrical parameters were monitored. The current and the voltage sensors were installed to determine the instantaneous electrical power and total electrical power as well. Furthermore, the torque sensors, encoders and accelerometers were installed too. The evaluation of signals from sensors allows a number of possible detections such as backlash occurrence, mechanical and electrical efficiency calculation, monitoring of the position accuracy for the motion functions (displacement law) application, influence of mechanical preload, properties of elastic parts, residual vibrations detection, possible instabilities etc. Measurements were performed in three stages. The first set of measurements was obtained applying the constant velocity of the servomotor. The minimal cam-roller backlash was mechanically adjusted. The load of the mechanism was realized using other servomotor which was applying the constant torque. In the second stage the displacement law was defined thus the angular velocity of actuator varied. In the last stage the effect of the mechanical backlash was investigated when the constant velocity of the actuator and constant torque of the load were set.