Implementation of Input Preshaping Control and Active Mass Damper to Reduce Structure Vibration in Flexible Mechanical Transfer System

The gantry loader is responsible for transferring products in place of human in the factory. Quick and precise transfer is required to improve product productivity and quality. However, merely transferring products at high speed causes the residual vibration that occurs after the transfer is finished to interfere with the quality of the products. In this study, we propose a vibration suppression system for a gantry loader by input shaping and active mass damper. The effectiveness of the proposed system is shown by experiments. In the experiments, we evaluate the vibration of the gantry loader pillars. This is because the vibration of the loader is transmitted to the whole device, and if the pillars do not vibrate, it is assumed that the loader and tip of the loading arm do not vibrate. In addition, if vibration of the pillars can be suppressed, it will be possible to make pillars thinner in future device designs, which will be beneficial in increasing the degree of freedom of factory layouts.