In recent years, hybrid devices have increasingly received more research.However, few of researchers studied the dynamic analysis. The inverse dynamic analysis of a novelhybrid machine tool designed in Tsinghua Univer...In recent years, hybrid devices have increasingly received more research.However, few of researchers studied the dynamic analysis. The inverse dynamic analysis of a novelhybrid machine tool designed in Tsinghua University is presented. The hybrid machine tool underconsideration consists of parallel and serial structures, which is based on a new 2-DOF parallelplatform and serial orientations. The kinematics and the dynamic equations are studied first for theparallel structure through Newton-Euler approach. And then, the dynamic analysis for serialstructures is conducted. Finally, a closed-form inverse dynamic formulation is derived by using someelimination techniques. Some simulation results are also given.展开更多
A structure scheme for a novel hybrid machine tool (HMT) is proposed in this paper. In the scheme,a 4-DOFs 1PS+3TPS type spatial hybrid mechanism is utilized as main feed mechanism,with assistance of a two direction m...A structure scheme for a novel hybrid machine tool (HMT) is proposed in this paper. In the scheme,a 4-DOFs 1PS+3TPS type spatial hybrid mechanism is utilized as main feed mechanism,with assistance of a two direction movable worktable,multi-coordinates NC machining can be realized. In the main feed mechanism,fixed platform is connected with moving platform by three TPS driving links and one PS driving link,one translation DOF and three rotation DOFs can be achieved by it. This type HMT enjoys some advantages over its conventional counterparts:large workspace,good dexterity,etc. Closed form inverse displacement analysis model and inverse kinematic model for main feed mechanism are established. A fuzzy PID control scheme for machining control of HMTs with high tracking precision is proposed aiming at highly nonlinear,tightly coupled and uncertain characteristic of HMTs. Simulation researches for fuzzy PID control of HMTs are carried out. Simulation Results demonstrate the effectiveness and the Robostness of the fuzzy PID controller.展开更多
After analyzing the structure and characteristics of the hybrid intelligent diagnosis system of CNC machine toolsCNC-HIDS), we describe the intelligent hybrid mechanism of the CNC-HIDS, and present the evaluation and ...After analyzing the structure and characteristics of the hybrid intelligent diagnosis system of CNC machine toolsCNC-HIDS), we describe the intelligent hybrid mechanism of the CNC-HIDS, and present the evaluation and the running instance of the system. Through tryout and validation, we attain satisfactory results.展开更多
Geometric error is the main factor affecting the machining accuracy of hybrid machine tools.Kinematic calibration is an effective way to improve the geometric accuracy of hybrid machine tools.The necessity to measure ...Geometric error is the main factor affecting the machining accuracy of hybrid machine tools.Kinematic calibration is an effective way to improve the geometric accuracy of hybrid machine tools.The necessity to measure both position and orientation at each pose,as well as the instability of identification in case of incomplete measurements,severely affects the application of traditional calibration methods.In this study,a kinematic calibration method with high measurement efficiency and robust identification is proposed to improve the kinematic accuracy of a five-axis hybrid machine tool.First,the configuration is introduced,and an error model is derived.Further,by investigating the mechanism error characteristics,a measurement scheme that only requires tool centre point position error measurement and one alignment operation is proposed.Subsequently,by analysing the effects of unmeasured degrees of freedom(DOFs)on other DOFs,an improved nonlinear least squares method based on virtual measurement values is proposed to achieve stable parameter identification in case of incomplete measurement,without introducing additional parameters.Finally,the proposed calibration method is verified through simulations and experiments.The proposed method can efficiently accomplish the kinematic calibration of the hybrid machine tool.The accuracy of the hybrid machine tool is significantly improved after calibration,satisfying actual aerospace machining requirements.展开更多
The kinematic accuracy is a key factor in the design of parallel or hybrid machine tools. This analysis improved the accuracy of a 4-DOF (degree of freedom) gantry hybrid machine tool based on a 3-DOF planar parallel...The kinematic accuracy is a key factor in the design of parallel or hybrid machine tools. This analysis improved the accuracy of a 4-DOF (degree of freedom) gantry hybrid machine tool based on a 3-DOF planar parallel manipulator by compensating for various positioning errors. The machine tool architecture was described with the inverse kinematic solution. The control parameter error model was used to analyze the accuracy of the 3-DOF planar parallel manipulator and to develop a kinematic calibration method. The experimental results prove that the calibration method reduces the cutter nose errors from ±0.50 mm to ±0.03 mm for a horizontal movement of 600 mm by compensating for errors in the slider home position, the guide way distance and the extensible strut home position. The calibration method will be useful for similar types of parallel kinematic machines.展开更多
基金This Project is suppord by Mechanical Engineering School Foundaion of Tsinghua University, China (No.091202003)National Natural Science Foundation of China (No.50275084)
文摘In recent years, hybrid devices have increasingly received more research.However, few of researchers studied the dynamic analysis. The inverse dynamic analysis of a novelhybrid machine tool designed in Tsinghua University is presented. The hybrid machine tool underconsideration consists of parallel and serial structures, which is based on a new 2-DOF parallelplatform and serial orientations. The kinematics and the dynamic equations are studied first for theparallel structure through Newton-Euler approach. And then, the dynamic analysis for serialstructures is conducted. Finally, a closed-form inverse dynamic formulation is derived by using someelimination techniques. Some simulation results are also given.
文摘A structure scheme for a novel hybrid machine tool (HMT) is proposed in this paper. In the scheme,a 4-DOFs 1PS+3TPS type spatial hybrid mechanism is utilized as main feed mechanism,with assistance of a two direction movable worktable,multi-coordinates NC machining can be realized. In the main feed mechanism,fixed platform is connected with moving platform by three TPS driving links and one PS driving link,one translation DOF and three rotation DOFs can be achieved by it. This type HMT enjoys some advantages over its conventional counterparts:large workspace,good dexterity,etc. Closed form inverse displacement analysis model and inverse kinematic model for main feed mechanism are established. A fuzzy PID control scheme for machining control of HMTs with high tracking precision is proposed aiming at highly nonlinear,tightly coupled and uncertain characteristic of HMTs. Simulation researches for fuzzy PID control of HMTs are carried out. Simulation Results demonstrate the effectiveness and the Robostness of the fuzzy PID controller.
文摘After analyzing the structure and characteristics of the hybrid intelligent diagnosis system of CNC machine toolsCNC-HIDS), we describe the intelligent hybrid mechanism of the CNC-HIDS, and present the evaluation and the running instance of the system. Through tryout and validation, we attain satisfactory results.
基金supported by the National Natural Science Foundation of China(Nos.52275442 and 51975319)。
文摘Geometric error is the main factor affecting the machining accuracy of hybrid machine tools.Kinematic calibration is an effective way to improve the geometric accuracy of hybrid machine tools.The necessity to measure both position and orientation at each pose,as well as the instability of identification in case of incomplete measurements,severely affects the application of traditional calibration methods.In this study,a kinematic calibration method with high measurement efficiency and robust identification is proposed to improve the kinematic accuracy of a five-axis hybrid machine tool.First,the configuration is introduced,and an error model is derived.Further,by investigating the mechanism error characteristics,a measurement scheme that only requires tool centre point position error measurement and one alignment operation is proposed.Subsequently,by analysing the effects of unmeasured degrees of freedom(DOFs)on other DOFs,an improved nonlinear least squares method based on virtual measurement values is proposed to achieve stable parameter identification in case of incomplete measurement,without introducing additional parameters.Finally,the proposed calibration method is verified through simulations and experiments.The proposed method can efficiently accomplish the kinematic calibration of the hybrid machine tool.The accuracy of the hybrid machine tool is significantly improved after calibration,satisfying actual aerospace machining requirements.
基金the National High- Tech Research andDevelopm ent Program of China (No.2 0 0 2 AA4 2 1180 )and the Knowledge Innovation Program of ChineseAcademy of Sciences (No.KJCX1- X- 0 1)
文摘The kinematic accuracy is a key factor in the design of parallel or hybrid machine tools. This analysis improved the accuracy of a 4-DOF (degree of freedom) gantry hybrid machine tool based on a 3-DOF planar parallel manipulator by compensating for various positioning errors. The machine tool architecture was described with the inverse kinematic solution. The control parameter error model was used to analyze the accuracy of the 3-DOF planar parallel manipulator and to develop a kinematic calibration method. The experimental results prove that the calibration method reduces the cutter nose errors from ±0.50 mm to ±0.03 mm for a horizontal movement of 600 mm by compensating for errors in the slider home position, the guide way distance and the extensible strut home position. The calibration method will be useful for similar types of parallel kinematic machines.
