Moog Animatics Linear Actuators

OEM Dynamics

Systems integration

Daniel WisemanApplications Engineer

3/28/2012

What is OEM Dynamics?

• The SYSTEM INTEGRATION division of Moog-Animatics Mission – To provide compact, reliable,

and fully programmable electromechanical solutions to meet any customer requirement at an attractive price

All actuators come with Animatics SmartMotor

Overview

− Actuator overview and models− Features/benefits/advantages

– Comparisons– Technical Information– Gantry Examples– Website

Categories

• Harmonic Drive– HLD60

• Ballscrew (Slider)– XL100– L70– VLST

• Ballscrew (Rod-type)– VLCT

Don’t Forget!

− Animatics is suited to ALL acutator types!− Including those we don’t make

– Conventional Belt– Roller Screw– Block and tackle

Harmonic Linear Drive (HLD)

No Gearbox Needed!

Saves cost!

Harmonic Linear Drive (HLD)

No need for Motor Adapters!

Saves EVEN MORE cost!

Harmonic Linear Drive (HLD)

Nearly ZERO backlash!

60 micron Bi-direction repeatability

Harmonic Linear Drive (HLD)

No brake required! HIGH THRUST

• Perfect for vertical gravity loads or constant load applications

• Over 420N achievable from SM23165DT motor

Harmonic Linear Drive (HLD)

• Smallest footprint in its load range

• Compare to conventional ballscrew and belt drives

• Many support rail configurations available

Harmonic Linear Drive (HLD)

Available Configurations2.5mm/rev (equiv. to 40:1 gearbox)5mm/rev (equiv. to 20:1 gearbox)10mm/rev (equiv. to 10:1 gearbox)12.5mm/rev (equiv to 8:1 gearbox)

Top Speed Increases.

Load Capacity

Increases

Harmonic Linear Drive (HLD)

Goes Where Others Can’t!• Stroke lengths over 3

meters available• Custom lengths

available in 1mm increments

• Rated speed does not drop off as stroke length increases

Apply as you would a traditional ballscrew without concerns of critical speed limits on long stroke!

Harmonic Linear Drive (HLD)

Internal Rollers Type

• Fully supported by internal roller wheels

• Smallest profile• Used in specific

applications only, limited loading and moment capability

Harmonic Linear Drive (HLD)

Single Rail Type

• Higher load capacities and moment load capabilities

• 2x Self-Lubricating, sealed bearing blocks, suitable for dirty environments

• Standard for most apps

Harmonic Linear Drive (HLD)

Dual Rail Type

• Most robust unit; highest load capacities and moment loading capabilities

• 4x Self-lubricating sealed bearing blocks can handle dirt and dust

• C-Channel carriage for maximum configurability

Harmonic Linear Drive (HLD)

How does it work?

Drive End

Idle End

Carriage Pulleys

Differing diameters of the pulleys cause a harmonic gearing effect

Harmonic Linear Drive (HLD)

Mechanical Concept

Harmonic Linear Drive (HLD)

ACME Screws Ball-ScrewsHLD

high static-load considerable dynamic thrust

very difficult to back-drive

have the highest static thrust load capability not easy to back-drive

have the highest driving thrust load capability but easy to back-drive

Harmonic Linear Drive (HLD)

Competitive analysisNote: There are NO direct competitive products to the

HLD anywhere. It is unique!Offers benefits of both belt-driven AND ballscrew driven systems!

Conventional Belt• System price• Speed• Length

Ball-Screw/Lead Screw• Precision• Thrust• Static Load

Harmonic Linear Drive (HLD)

Actuator Types and Comparisons

Mechanical Comparisons For Equivalent Power, (assumes no additional gear reduction)

Actuator Type Efficiency Thrust Back-drive-ability Speed ACME Screws Very Difficult Ball-Screws Easy HLD Difficult Belt Drives Easy Rack & Pinion Easy

For Equivalent Application to same load and speed

Actuator Type Positioning Accuracy Cost ACME Screws Good $$Ball-Screws Best $$$$HLD Extremely good $$Belt Drives (w/gear head) OK $$$Rack & Pinion OK $$

LowestCost-to-Performance

Available

Harmonic Linear Drive (HLD)

Ideal applications

• Long-stroke Medium to High Speed applications• Medium to High Thrust applications• Wherever High Stiffness (in direction of travel) is needed• Where ball-screws cost too much• In vertical loads where back-drive is a problem• In tight holding applications such as:

• Back-stop gauges• Material saw stop jigs• Long-stroke high thrust gantries

Harmonic Linear Drive (HLD)

Part Numbering Scheme

H3-<STROKE>-<PITCH><RAIL>-<MOTOR>-<OPTION>

• H3 – HLD designator• STROKE – from 112mm to 3200mm!• PITCH – in mm/rev• RAIL – A, B, E for none, single, or dual rail respectively• MOTOR – SM23165DT standard, others available• OPTION – Coded for communications, orientations, etc.

L70 Single-Rail Ballscrew

L70

L70 Single Rail Ballscrew

Key Features• 5mm or 10mm /rev Ball-Screw• Up to 600mm Stroke• Up to 200N Dynamic Thrust Load• Maximum Stroke to Total-Length Ratio• Minimal Cross-Section w/Small Footprint• Open-sided for Easy Mounting• Directly Stackable in X-Y Configuration• Direct mount to HLD

L70 Single Rail Ballscrew

L70 XY-Demo KitX-Y configuration with SM23165Ds

L70 Single Rail Ballscrew

Competative Analysis

• Note: Although there are similar sized Ball-Screw Actuators, due to the mounting flexibility and open side, the L70 stands on its own as a viable alternative to conventional open framed Actuators.

• The open side makes it completely unique in the market

• Actuators comparable in cross-section are typically machined rail-body types with far less moment loading or thrust ratings

XL100 Dual Rail Ballscrew

XL100

XL100 Dual Rail Ballscrew

Feature Overview• 5mm or 10mm Ball-Screw• Up to 600mm Stroke• Up to 200N Dynamic Thrust Load• Easy Mounting “Waist” Access Holes• Wide Dual Rail Support for High Moment Loading• Directly Stackable in X-Y Configuration• Up to 6 Limit Switches

XL100 Dual Rail Ballscrew

X-Y configuration with SM23375Ds

XL100 Dual Rail Ballscrew

XL100 Dual Rail Ballscrew

Competitive Analysis• More robust- Higher moment capability compared to L70

• Closed frame

• Highest accuracy & repeatability of ballscrew line

• The XL100 has the appearance of a precision stage and yet has the price of a conventional Actuator.

• Note: XL100 does not have the high flatness/straightness specs of a true linear stage. It is an actuator.

XL100 Dual Rail Ballscrew

Gantries

L70 3 Axis Gantry with

slave follower

axis

HLD60 with L70

T-nuts and toe-clamps slide into extrusion slots

HLD60-TN12M

HLD60-TC2

OEM Dynamics Comparisons

VL-ST Actuators

• VL-ST60 • VL-ST45

VL-ST Actuators

Feature Overview• 2 sizes: VL-ST45 or VL-ST60 • 6 mm or 12 mm leads available• Strokes lengths up to 700 mm• Enclosed actuator with seal strip• Up to 491 N continuous thrust and 788 peak thrust

VL-CT Rod-type Actuators

• Pulley Offset Direct Drive

VL-CT Rod-type Actuators

Feature Overview• Available in 2 configurations: pulley offset or direct

drive• Pulley Offset: 3:1, 2:1 or 1:1 ratio• 3 sizes: VL-CT35, VL-CT45 or VL-CT55• 6 mm or 12 mm leads available• Strokes lengths up to 300 mm• Up to 737 N continuous thrust and 1182 peak thrust• Replacement for pneumatic cylinders

Questions?