Head actuator arm assembly (HAA) is the most important mechanical component of a mobile hard disk drive (HDD) and its shock dynamic response is a principal index of vibration resistance. In this paper,a finite element...Head actuator arm assembly (HAA) is the most important mechanical component of a mobile hard disk drive (HDD) and its shock dynamic response is a principal index of vibration resistance. In this paper,a finite element (FE) model is firstly developed in ANSYS of 2.5 inch (1 inch=25.4 mm) mobile hard disk. This model includes actuator arm,voice coil motor (VCM) and pivot bearing. The various step modal of HAA is calculated by FE model. Then the actuator arm vibration behavior is simulated with LS-DYNA procedure. The influence of pulse waveform,pulse amplitude and pulse width on the shock response of the relative displacement of the head actuator arm assembly is studied.展开更多
Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parall...Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error’s influence on the moving platform’s pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration.展开更多
基金Natural Science Foundation of China (Grant No. 50575072)Scientific Research Fund of Hunan Provincial Education Department (Grant No.07C280)
文摘Head actuator arm assembly (HAA) is the most important mechanical component of a mobile hard disk drive (HDD) and its shock dynamic response is a principal index of vibration resistance. In this paper,a finite element (FE) model is firstly developed in ANSYS of 2.5 inch (1 inch=25.4 mm) mobile hard disk. This model includes actuator arm,voice coil motor (VCM) and pivot bearing. The various step modal of HAA is calculated by FE model. Then the actuator arm vibration behavior is simulated with LS-DYNA procedure. The influence of pulse waveform,pulse amplitude and pulse width on the shock response of the relative displacement of the head actuator arm assembly is studied.
基金Supported by National Natural Science Foundation of China(Grant No.51305222)National Key Scientific and Technological Program of China(Grant No.2013ZX04001-021)
文摘Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error’s influence on the moving platform’s pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration.
