Here is a field-tested manual process for tuning of ACOPOS 6D shuttles to the payload and tooling that is mounted to them. This is a simple way to accommodate differences between the design and manufactured tooling/payload.
This is a very rudimentary procedure but has proven to be a successful way to get the best shuttle response:
- Pull the Center-of-Mass (CoM) from the MCAD file for each specific tool/payload that will be used
- Enter this into the stereotype of the shuttle
- Manually disturb the shuttle by hand and trace its actual position as well as feel any excessive vibration and/or listen for any audible vibrations
- If the tooling is symmetrical, make small step adjustments to the CoM value in Z until you get the best response from the shuttle. This can be above OR below the initial CoM input from the MCAD file
- For non-symmetrical tooling, you will need to sweep the values for the other axes. This can be simplified if there is at least 1 axis of symmetry