Question

9. Given the S-curve velocity profile in Figure 2.17, plot the axis velocity and acceleration profiles 10. The X-axis of a XYZ gantry robot is going to operate using S-curve velocity profile with as two separate plots using Excel 10:-1. ocity (in/s) Velocity (cts/ms) 1VIOLIOT controller Figure 2.16 Problem 8 B 16 A Time (ms) 40 60 Figure 2.17 Problem 9 V2 V1

Answer 1

A C D F F G H K L Velocity Acceleration 1 Time 2 0 time-velocity plot 20 3 8 0.4 18 4 40 16 0.4 5 60 16 0 16 6 7 14 8 Acceleration dv/dt 12 9 10 10 11 12 -time-velocity plot 13 6 14 15 4 16 17 2 18 19 40 60 0 20 20 21 22 co LO t O 00 D un N 00 n

A C D F G H K L Velocity Acceleration 1 Time 2 0 0 time-acceleration plot 20 3 0.4 0.45 4 40 16 0.4 5 60 16 0 0.4 6 7 0.35 Acceleration dv/dt 0.3 L0 0.25 11 time-acceleration plot 12 0.2 13 0.15 4 1.5 0.1 16 17 0.05 18 C 19 40 0 20 60 20 21 22 2 O 00