Controlled motion system having an improved track configuration

摘要

A transport system comprising linear motor modules utilized both straight and curved track modules, with movers displaced on the track modules by control of power applied to coils of the modules. Curved track modules have modified spline geometries to provide desired acceleration and jerk characteristics. The modified spline geometries may be defined by more than one generators, such as an equation generator and a spline fit between the equation-generated segment and one or more constrained points or locations. The curved track modules may be divided into 180 degree modules, or may be reduced to 90 degree, 45 degree or other fractional arcs to provide for modular assembly, mirror-image geometries and motion profiles, and the like. The system may be adapted to provide improved motion characteristics based on modification of a conventional spline geometry.

主权项

1. A controlled motion system comprising:
a track assembly having a straight track module and a curved track module interconnected to form a continuous track, each module comprising a plurality of individually controlled electromagnet coils effective for creating electromagnetic fields; and a mover mounted for movement along the track and having magnetic reaction elements positioned that interact with the fields; wherein the curved track module comprises a modified spline geometry comprising at least two different adjacent non-constant radius spline segments having different generators.