The shaking or offset of the hollow rotating platform under load is usually related to mechanical rigidity, load distribution or transmission system problems. The following are systematic solutions:
1. Mechanical structure inspection and reinforcement
Check the mounting base: Make sure that the platform mounting surface is flat and has sufficient rigidity (recommended flatness ≤0.02mm/m²)
Add support structure: For large diameter platforms (>Φ300mm), consider adding auxiliary support bearings
Flange connection inspection: Confirm that the torque of the connecting bolts between the motor flange and the platform meets the standard (according to the manufacturer's specifications)
Load matching verification, check load parameters:
Axial load ≤ 70% of the rated value
Radial load ≤ 50% of the rated value
Overturning moment ≤ 30% of the rated value
Dynamic balance test: When the speed is >30rpm, dynamic balance correction is required (recommended unbalance ≤G2.5 level)
2. Transmission system optimization
Harmonic reducer model: Check whether the flexible wheel is fatigued (the replacement cycle is usually 10,000-20,000 hours)
Planetary reducer model: Adjust the gear meshing clearance (the side clearance is recommended to be 0.05-0.1mm)
Direct drive model: Check the magnetic pole position calibration (requires a dedicated servo driver)
3. Dynamic performance optimization
Rigidity setting:
Position loop gain: gradually increase until no oscillation occurs (typical value 15-25Hz)
Speed loop gain: 3-5 times that of the position loop
Vibration suppression:
Add notch filter (for specific frequencies)
Adjust torque filter (time constant 0.5-2ms)
Motion control optimization
Acceleration and deceleration curve: Use S curve acceleration and deceleration (jerk time is set to 20-30% of acceleration time)
Preload control: Apply 5-10% reverse torque 50ms before stopping
4. Advanced diagnostic method
Vibration spectrum analysis
Frequency characteristics Possible causes Solutions
1× speed frequency Dynamic imbalance Perform dynamic balance correction
2-3× speed frequency Bearing defect Replace bearing
Gear meshing frequency Reducer problem Adjust gear clearance
Recommended processing flow:
- No-load test to confirm basic performance
- Gradually increase the load to 50%, 80%, and 100% of the rated value
- Use laser interferometer to measure radial runout (recommended ≤0.02mm)
- Use strain gauges to measure structural deformation when necessary
For high-precision applications (<30 arc seconds), it is recommended to use it in a constant temperature environment and perform real-time error compensation.