In view of the structure of traditional five-coord in ate machine tool, the work-piece and machine tool often move along their respec tive guides simultaneously on the whole. In this kind of machine structure, the tot...In view of the structure of traditional five-coord in ate machine tool, the work-piece and machine tool often move along their respec tive guides simultaneously on the whole. In this kind of machine structure, the total mass of moving parts including work-pieces, fixtures, rotating table, wor king table and so on is often very large. Besides, the elastic reform of transmi ssion and the viscous friction force of the guide can not be ignored. As a resul t, the machine tool can not move with high velocity and acceleration, and can no t meet the needs of modern fast and efficient production. The emergence of virtual-axis machine tool has provided a new approach for the solution of the above problems. The kernel of the virtual-axis machine tool is the parallel mechanism. So far, research of parallel mechanism in the world has achieved many results and various applied equipments based on parallel mecha nism have been worked out, but the research generally focuses on the working spa ce and kinematics analysis, dynamics are rarely considered. To meet the requirements of the modern fast and efficient production, reduce the cost and promote the machine tool’s acceleration character, not only should we analyze the kinematics of machine tool, but also we should study its dynamics a nd optimize the structure on the basis of analysis. In this paper, the kinem atics and dynamics of a 5-DOF (degrees of freedom) machine tool with novel para llel mechanism that has three moving DOF and one rotating DOF are studied by Rob ot-Wittenberg method. The dynamics character of the parallel robotic machine is analyzed and used to guide the structure design of machine tool. At last, the c orrectness is verified through a numerical simulation of 5-DOF. Hence, the dyna mics model can generally solve the problems existing in the parallel and hybrid machine tools. The dynamics character of the parallel robotic machine is studied and analyzed in quantity. The dynamics equation of the system can be written as This is a set of differential equations of four DOF system. Theoretically, the c losed solution of the forward and inverse problems can be gained by solving the above equations. The system equations quite suit to program at the computer. Whe n the forces are given, the state variables’ numerical solution can be gain ed through integral; and when the dynamics parameters are given, the forces can also be solved. But the multiple valued phenomena can not be avoided. We have developed simulation software based on the dynamics model presented by t his paper. The different effects of the structure parameters can be given by numerical simulation.展开更多
A 3-degree-of-freedom (3-DOF) parallel machine tool based on a tripod mechanism is developed and studied. The kinematics analysis is performed, the workspace is derived, and an analysis on the number of conditions o...A 3-degree-of-freedom (3-DOF) parallel machine tool based on a tripod mechanism is developed and studied. The kinematics analysis is performed, the workspace is derived, and an analysis on the number of conditions of the Jacobian matrix and manipulability is carried out. A method for error analysis and manipulability is introduced. Hence, the manipulability analysis of the parallel machine tool is accomplished.展开更多
A calibration method is presented to enhance the static accuracy of a parallel kinematic machine tool by using a coordinate measuring machine and a laser tracker. According to the established calibration model and the...A calibration method is presented to enhance the static accuracy of a parallel kinematic machine tool by using a coordinate measuring machine and a laser tracker. According to the established calibration model and the calibration experiment, the factual 42 kinematic parameters of BKX-I parallel kinematic machine toot are obtained. By circular tests the comparison is made between the calibrated and the uncalihrated parameters and shows that there is 80 % improvement in accuracy of this machine tool.展开更多
Returning home is the most important process of a parallel kinematic machine (PKM) with incremental encoders.Currently,most corresponding articles focus on the accuracy of homing process,and there lacks the investig...Returning home is the most important process of a parallel kinematic machine (PKM) with incremental encoders.Currently,most corresponding articles focus on the accuracy of homing process,and there lacks the investigation of the operation's safety.For a 4RRR PKM,all servoaxes would be independently driven to their zero positions at the same time based on the traditional homing mode,and that can bring serious interfere of the kinematic chains.This paper systemically investigates this 4RRR PKM's safety of homing process.A homing strategy usually contains three parts which are the home switches' locations,the platform's initial moving space,and each links' homing direction,and all of them can influence the safety of homing operation.For the purpose of evaluating and describing the safety of the homing strategy,some important parameters are introduced as follows:Safely homing ratio (SHR) is used to evaluate the probability of a machine's successfully returning home from an initial moving space;Synchronal rotational angle (SRA) is the four links' largest synchronal rotational angle with given directions from a given pose.Whether a machine can safely return home from a given pose can be judged by comparing the SRA with all four home switches' mounting angles.By meshing the initial moving space and checking the safeties of returning home from all the initial poses on the nodes,the SHR of this initial moving space can be calculate.For the sake of convenience,the platform's initial moving space should be as large as possible,and in this 4RRR PKM,a square zone in the center of the workspace with a giving initial rotation range is selected as the platform's initial moving space.The forward direction is selected as each link's homing direction according to custom,and the platform's initial rotational angle is selected as larger than 0° based on this 4RRR PKM's kinematic characteristics.The platform's initial moving space can be defined only by the side length of the initial moving square.By setting a probable searching step and calculating the SHR of the initial moving square,an optimal procedure of searching for the largest side length of the platform's initial moving square is proposed.The homing strategy proposed is based on a systemic research on the safety of homing process for PKM,and the two new indexes SHR and SRA can clearly describe the safety of homing operation.The homing operation based on this strategy is fast and safe,and the method can also be used in other PKMs with the situation of serious components' interference.展开更多
This paper presents a novel step kinematic calibration method for a 3 degree-of-freedom(DOF) planar parallel kinematic machine tool,based on the minimal linear combinations(MLCs) of error parameters.The method using m...This paper presents a novel step kinematic calibration method for a 3 degree-of-freedom(DOF) planar parallel kinematic machine tool,based on the minimal linear combinations(MLCs) of error parameters.The method using mapping of linear combinations of parameters in error transfer multi-parameters coupling system changes the modeling,identification and error compensation of geometric parameters in the general kinematic calibration into those of linear combinations of parameters.By using the four theorems of the MLCs,the sets of the MLCs that are respectively related to the relative precision and absolute precision are determined.All simple and feasible measurement methods in practice are given,and identification analysis of the set of the MLCs for each measurement is carried out.According to the identification analysis results,a step calibration including step measurement,step identification and step error compensation is determined by taking into account both measurement costs and observability.The experiment shows that the proposed method has the following merits:(1) the parameter errors that cannot influence precision are completely avoided;(2) it reflects the mapping of linear combinations of parameters more accurately and enhances the precision of identification;and(3) the method is robust,efficient and effective,so that the errors in position and orientation are kept at the same order of the measurement noise.Due to these merits,the present method is attractive for the 3-DOF planar parallel kinematic machine tool and can be also applied to other parallel kinematic machine tools with weakly nonlinear kinematics.展开更多
文摘In view of the structure of traditional five-coord in ate machine tool, the work-piece and machine tool often move along their respec tive guides simultaneously on the whole. In this kind of machine structure, the total mass of moving parts including work-pieces, fixtures, rotating table, wor king table and so on is often very large. Besides, the elastic reform of transmi ssion and the viscous friction force of the guide can not be ignored. As a resul t, the machine tool can not move with high velocity and acceleration, and can no t meet the needs of modern fast and efficient production. The emergence of virtual-axis machine tool has provided a new approach for the solution of the above problems. The kernel of the virtual-axis machine tool is the parallel mechanism. So far, research of parallel mechanism in the world has achieved many results and various applied equipments based on parallel mecha nism have been worked out, but the research generally focuses on the working spa ce and kinematics analysis, dynamics are rarely considered. To meet the requirements of the modern fast and efficient production, reduce the cost and promote the machine tool’s acceleration character, not only should we analyze the kinematics of machine tool, but also we should study its dynamics a nd optimize the structure on the basis of analysis. In this paper, the kinem atics and dynamics of a 5-DOF (degrees of freedom) machine tool with novel para llel mechanism that has three moving DOF and one rotating DOF are studied by Rob ot-Wittenberg method. The dynamics character of the parallel robotic machine is analyzed and used to guide the structure design of machine tool. At last, the c orrectness is verified through a numerical simulation of 5-DOF. Hence, the dyna mics model can generally solve the problems existing in the parallel and hybrid machine tools. The dynamics character of the parallel robotic machine is studied and analyzed in quantity. The dynamics equation of the system can be written as This is a set of differential equations of four DOF system. Theoretically, the c losed solution of the forward and inverse problems can be gained by solving the above equations. The system equations quite suit to program at the computer. Whe n the forces are given, the state variables’ numerical solution can be gain ed through integral; and when the dynamics parameters are given, the forces can also be solved. But the multiple valued phenomena can not be avoided. We have developed simulation software based on the dynamics model presented by t his paper. The different effects of the structure parameters can be given by numerical simulation.
基金supported by University Key Laboratory Foundation of Liaoning Province of China (No. 2008S094)
文摘A 3-degree-of-freedom (3-DOF) parallel machine tool based on a tripod mechanism is developed and studied. The kinematics analysis is performed, the workspace is derived, and an analysis on the number of conditions of the Jacobian matrix and manipulability is carried out. A method for error analysis and manipulability is introduced. Hence, the manipulability analysis of the parallel machine tool is accomplished.
文摘A calibration method is presented to enhance the static accuracy of a parallel kinematic machine tool by using a coordinate measuring machine and a laser tracker. According to the established calibration model and the calibration experiment, the factual 42 kinematic parameters of BKX-I parallel kinematic machine toot are obtained. By circular tests the comparison is made between the calibrated and the uncalihrated parameters and shows that there is 80 % improvement in accuracy of this machine tool.
基金supported by National Natural Science Foundation of China (Grant No. 50775125,and No. 50775117)National Hi-tech Research and Development Program of China (863 Program,Grant No.2007AA041901)National Basic Research Program of China (973 Program,Grant No. 2004CB318007)
文摘Returning home is the most important process of a parallel kinematic machine (PKM) with incremental encoders.Currently,most corresponding articles focus on the accuracy of homing process,and there lacks the investigation of the operation's safety.For a 4RRR PKM,all servoaxes would be independently driven to their zero positions at the same time based on the traditional homing mode,and that can bring serious interfere of the kinematic chains.This paper systemically investigates this 4RRR PKM's safety of homing process.A homing strategy usually contains three parts which are the home switches' locations,the platform's initial moving space,and each links' homing direction,and all of them can influence the safety of homing operation.For the purpose of evaluating and describing the safety of the homing strategy,some important parameters are introduced as follows:Safely homing ratio (SHR) is used to evaluate the probability of a machine's successfully returning home from an initial moving space;Synchronal rotational angle (SRA) is the four links' largest synchronal rotational angle with given directions from a given pose.Whether a machine can safely return home from a given pose can be judged by comparing the SRA with all four home switches' mounting angles.By meshing the initial moving space and checking the safeties of returning home from all the initial poses on the nodes,the SHR of this initial moving space can be calculate.For the sake of convenience,the platform's initial moving space should be as large as possible,and in this 4RRR PKM,a square zone in the center of the workspace with a giving initial rotation range is selected as the platform's initial moving space.The forward direction is selected as each link's homing direction according to custom,and the platform's initial rotational angle is selected as larger than 0° based on this 4RRR PKM's kinematic characteristics.The platform's initial moving space can be defined only by the side length of the initial moving square.By setting a probable searching step and calculating the SHR of the initial moving square,an optimal procedure of searching for the largest side length of the platform's initial moving square is proposed.The homing strategy proposed is based on a systemic research on the safety of homing process for PKM,and the two new indexes SHR and SRA can clearly describe the safety of homing operation.The homing operation based on this strategy is fast and safe,and the method can also be used in other PKMs with the situation of serious components' interference.
基金the"863"High-Tech Program of China(Grant Nos.2006AA04Z204 and 2006AA04Z227)National Natural Science Foundation of China(Grant Nos.50775118and50605041)+1 种基金the"973"Basic Research Project of China(Grant Nos.2006CB705406 and 2007CB714000)Tsinghua Basic Research Foundation(Grant No.JC200701)
文摘This paper presents a novel step kinematic calibration method for a 3 degree-of-freedom(DOF) planar parallel kinematic machine tool,based on the minimal linear combinations(MLCs) of error parameters.The method using mapping of linear combinations of parameters in error transfer multi-parameters coupling system changes the modeling,identification and error compensation of geometric parameters in the general kinematic calibration into those of linear combinations of parameters.By using the four theorems of the MLCs,the sets of the MLCs that are respectively related to the relative precision and absolute precision are determined.All simple and feasible measurement methods in practice are given,and identification analysis of the set of the MLCs for each measurement is carried out.According to the identification analysis results,a step calibration including step measurement,step identification and step error compensation is determined by taking into account both measurement costs and observability.The experiment shows that the proposed method has the following merits:(1) the parameter errors that cannot influence precision are completely avoided;(2) it reflects the mapping of linear combinations of parameters more accurately and enhances the precision of identification;and(3) the method is robust,efficient and effective,so that the errors in position and orientation are kept at the same order of the measurement noise.Due to these merits,the present method is attractive for the 3-DOF planar parallel kinematic machine tool and can be also applied to other parallel kinematic machine tools with weakly nonlinear kinematics.
基金This work was supported by the National Natural Science Foundation of China (Grant No. 59805011) the National 973 Program (G1998030607) the National 863 High-Tech Development Program (863-511-943-001).