Energieeffiziente Bewegungssysteme durch Nutzung der Eigenbewegung

  • Energy-efficient motion systems using the eigenmotion

Schwarzfischer, Ferdinand; Hüsing, Mathias (Thesis advisor); Corves, Burkhard (Thesis advisor); Václavík, Miroslav (Thesis advisor)

Aachen (2019)
Dissertation / PhD Thesis

Dissertation, Rheinisch-Westfälische Technische Hochschule Aachen, 2019


Motion systems are a part of many different production machines, for example weaving or packaging machines. A way to increase the energy-efficiency of motion systems, which consist of a combination of a servo motor and a mechanism, is the operation of the mechanism in its so-called Eigenmotion. In this work, the fundamentals of the Eigenmotion are described. When a mechanism is driven in this particular motion, its energy-level remains constant during the complete motion. The Eigenmotion is an intrinsic property of all mechanisms with a mobility of M=1 and at least one completely revolving link (crank). Operating a mechanism in its Eigenmotion demands the application of a servomotor in order to sustain the constant energy level by means of a variation of the input speed. This is the main difference to the motion systems of classical mechanism theory, which consist of a mechanism and an electric motor providing a constant input speed. In practice, the benefits of the Eigenmotion are rarely exploited. This appears to be due to the fact that there are no general methods to synthesize mechanisms, which fulfill the desired motion when operated in their Eigenmotion. In the course of this work, a general method to synthesize transfer mechanisms will be presented. Subsequently, this method will be presented by means of two examples. Finally, research on operating a mechanism in its Eigenmotion is conducted. A procedure to put into practice the operation of a mechanism in its Eigenmotion is presented. Afterwards, experiments are carried out in order to draw conclusions about the energy efficiency of a mechanism operated in Eigenmotion in comparison to a mechanism driven at a constant input speed. The present work aggregates the existing knowledge about the Eigenmotion and presents a methodology to synthesize transfer mechanisms explicitly for being operated in Eigenmotion. Research carried out on a test bench provides the necessary knowledge to practically implement the operation of a mechanism in its Eigenmotion. Overall, this work provides the necessary information to design and operate energy-efficient motion systems.


  • Chair and Institute of Mechanism Theory, Machine Dynamics and Robotics [411910]