Deceleration system for kinematic linkages of positioning

Flexible automation is used more and more in various production processes, so that both machining itself on CNC machine tools and workpiece handling means are performed through programming the needed working cycle. In order to obtain a successful precise positioning, each motion degree needs a certain deceleration before stopping at a programmed point. The increase of motion speed of moving elements within the manipulators structure depends directly on deceleration duty quality before the programmed stop. Proportional valves as well as servo-valves that can perform hydraulic decelerations are well known, but they feature several disadvantages, such as: high price, severe conditions for oil filtering and low reliability under industrial conditions. This work presents a new deceleration system that allows adjustment of deceleration slope according to actual conditions: inertial mass, speed etc. The new solution of hydraulic decelerator allows its integration to a position loop or its usage in case of positioning large elements that only perform fixed cycles. The results being obtained on the positioning accuracy of a linear axis using the new solution of the hydraulic decelerator are presented, too. The price of the new deceleration system is much lower compared to the price of proportional valves or servo-valves.