An optimized cosine jerk motion profile with higher efficiency and flexibility. Issue 3 (27th April 2022)

• Record Type: Journal Article
• Authors: Zhu, Qixin; Jin, Yusheng; Zhu, Yonghong
• Is Part Of: Assembly automation. Volume 42:Issue 3(2022)
• Page Start: 350
• Page End: 360
• Publication Date: 2022-04-27
• Subjects: acc/dec algorithms -- Cosine jerk -- Motion efficiency -- Motion profile -- Polynomial parts -- Residual vibration; Automation -- Periodicals; Automatic machinery -- Periodicals; Assembly-line methods -- Periodicals; Industrial engineering -- Periodicals; 670.42705
• DOI: 10.1108/AA-11-2021-0165
• Languages: English
• ISSNs: 0144-5154

Abstract

Abstract : Purpose: The purpose of this paper is to propose a new acceleration/deceleration (acc/dec) algorithm for motion profiles. The motion efficiency, flexibility of the motion profiles and the residual vibration of the movement are discussed in this paper. Design/methodology/approach: A dynamics model is developed to assess the residual vibration of these two kinds of motion profile. And a Simulink model is created to assess the motion efficiency and flexibility of the motion profiles with the proposed acc/dec algorithm. Findings: Considering the flexibility of trigonometric motion profiles and the higher motion efficiency of S-curve motion profiles, the authors add the polynomial parts into the jerk profile of the cosine function acc/dec algorithm to hold the jerk when it reaches the maximum so that the motion efficiency can increase and decrease residual vibration at the same time. And the cyclical parameter k shows the decisive factor for the flexibility of trigonometric motion profiles. Originality/value: Comparing with the traditional motion profiles, the proposed motion profiles have higher motion efficiency and excite less residual vibration. The acc/dec algorithm proposed in this paper is useful for the present motion control and servo system.