Basic HTML Version
X
Y
9
Function
The two stationary motors and the rotating toothed belt characterise
the planar surface gantry. The toothed belt, which is secured to the
front panel of the Y-axis, runs along the 3 rigid main axes. The result-
ing parallel kinematic structure enables free movement in the area.
The direction of movement, acceleration and speed are realised via
simultaneous control of both motors. The superposition of both
motor outputs and the reduced moving mass enable the high
dynamic response of the XY movement.
Optional additional movement
The front panel accommodates the Z-axis or rotary lifting module
for free movement in the space (3D).
The kinematic chain:
• 2 stationary servo motors M
1
and M
2
• 1 rotating toothed belt ZR
• 2 very rigid X-axes, 1 very rigid Y-axis
Kinematics in detail:
• the superposition of both motors enables the direction
of movement of the front panel in an X and Y-direction
• both motors together ensure maximum acceleration and speed
for exclusive movement of the front panel in an X or Y-direction
M
1
M
2
ZR
+
+
•
-
•
•
Motor 1
Motor 2