Article citation information:Jírová, R., Pešík, L. Dynamic load of linear guiding systems in handling machines. Scientific Journal of Silesian University of Technology. Series Transport. 2019, 103, 31-41. ISSN: 0209-3324. DOI: https://doi.org/10.20858/sjsutst.2019.103.3. Radka JÍROVÁ, Lubomír PEŠÍKDYNAMIC LOAD OF LINEAR GUIDING SYSTEMS IN HANDLING MACHINESSummary. Linear guiding systems are used in machines for relative translational motion of components, especially for handling devices, which are the basis of production lines. In these operating conditions, the linear guiding systems are dynamically loaded. Dynamical influences may lead to the decrease and damage of bearings. The aim of this paper was to calculate dynamical influences of a mass inertia on linear guiding systems. This issue was solved by a numerical calculation of differential motion equations in 2D. The motion was calculated on an example of a handling machine for welding car bodies. The result is a percentage representation of the dynamic forces on the total load of the linear guiding systems. The result shows the percentage representation in the solved case as more than 10%.Keywords: linear guiding system, dynamic load, 2D motion1. INTRODUCTIONNowadays, the linear guiding system is an indispensable part of handling machines. They are usually used in serial productions with a high degree of robotisation. The advantage of linear guiding systems is their versatility, high load capacity and operational reliability. In many cases, they enable the replacement of complex spatial mechanisms. The objects motion is usually electrically controlled by drives with stepper motors [1,3,5,6,7,9].The design of linear guiding systems are usually based on the evaluation of a static load, the operating velocity and the sufficient stiffness of the assembly. Producers of handling machines usually use this approach in the design of linear guiding systems. However, during their operation, dynamic load occurs due to the incident of the inertial forces of the mass. Therefore, the objective of this paper is the assessment of the operational dynamical influences. These are evaluated as the percentage representation of the dynamic load on the total load.2. CALCULATION OF DIFFERENTIAL MOTION EQUATIONSThe influence of the dynamic load was solved on an example of a handling machine for welding car bodies. The motion of this handling machine is a linear translation in a horizontal plane. The clamping frames transported were, in this case, hung on the cart, which is assembled to the linear guiding systems. For linear movement, the handling machine uses the rack and pinion gear, onto which power from the stepper motor is transmitted. The stepper motor is situated in the handling machine cart. The clamping frames shows that there is a relatively high inertial mass, which occurs during the acceleration and deceleration of dynamical forces transmitted to the linear guiding systems.For the calculation of the dynamic forces, the linear guiding systems may be represented as an elastic and damping part [2]. Hence, during linear translation, oscillating motion occurs. The total movement of the handling machine consists of absolute translation and relative rotation around the contact point of the gear. The solution of the dynamic forces is simplified in a 2D planar motion.2.1. D’Alembert’s principled'Alembert's principle [4] is used for creating motion equations in 2D. Fig. 1 shows the general planar motion with an elastic and damping member.Fig. 1. Kinematic and dynamic schema of the system.The kinematic schema is shown on the left, while on the right is the dynamic schema, wherein QUOTE is torsion stiffness of the linear guiding system, QUOTE torsion damping coefficient of linear guiding system, QUOTE tangential acceleration vector, QUOTE normal acceleration vector, QUOTE acceleration vector of stepper motor, QUOTE angular position vector, QUOTE elastic force vector, QUOTE damping force vector, QUOTE force vector of stepper motor, QUOTE dynamic force vector of linear motion, QUOTE centrifugal force vector of rotation motion, QUOTE tangential force vector of rotation motion and QUOTE is dynamic moment [3]. Point QUOTE is the origin of coordinate system, QUOTE is rotation point and QUOTE is centre of mass.Dynamic force vector QUOTE