Vibration error-based trajectory planning of a 5-dof hybrid machine tool

2021 ◽  
Vol 69 ◽  
pp. 102095
Author(s):  
Yanqin Zhao ◽  
Jiangping Mei ◽  
Wentie Niu
Keyword(s):  
Machine Tool ◽  
Trajectory Planning ◽  
Hybrid Machine Tool ◽  
Hybrid Machine ◽  
Vibration Error

Error Comparison and Analysis of Parallel and Constraint Mechanism for 3-TPS Hybrid Machine Tool

2011 ◽  
Vol 127 ◽  
pp. 277-282
Author(s):  
Peng Fei Dang ◽  
Li Jin Fang
Keyword(s):  
Machine Tool ◽  
Parallel Mechanism ◽  
Parallel Robot ◽  
Error Model ◽  
Position Error ◽  
Robot Kinematics ◽  
Motion Error ◽  
Movable Plate ◽  
Hybrid Machine Tool ◽  
Hybrid Machine

This paper establishes position error model based on parallel robot kinematics theory, and analyses position error of the 3-TPS hybrid machine tool. Firstly, to calculate position error of the movable plate caused by the parallel mechanism links, through error model of the parallel mechanism which is established through inverse kinematics of the hybrid machine tool. Then, according to the error model of constraint mechanism established by transformation matrix method, the position error has been simulated and calculated. Finally, this paper compares the effects of both mechanisms. The analysis indicates the link error of constraint mechanism has more influence on movable plate posture than parallel mechanism, and provides help with motion error compensation and kinematic calibration.

Dynamic Analysis and Counterweight Optimization of the 2-DOF Parallel Manipulator of a Hybrid Machine Tool

2007 ◽  
Vol 2 (4) ◽  
pp. 344-350 ◽  
Author(s):  
Jun Wu ◽  
Jinsong Wang ◽  
Liping Wang ◽  
Tiemin Li ◽  
Yue Liu
Keyword(s):  
Machine Tool ◽  
Parallel Manipulator ◽  
Cutting Tool ◽  
Force Model ◽  
Cutting Force Model ◽  
Dynamic Simulations ◽  
Hybrid Machine Tool ◽  
Planar Parallel Manipulator ◽  
Hybrid Machine ◽  
Two Degree Of Freedom

This paper focuses on the dynamic modeling and counterweight optimization of the two degree of freedom planar parallel manipulator, which is a subpart of a hybrid machine tool. Based on a kinematic analysis, the dynamic equation is derived by using the Newton-Euler approach. Then, three counterweight modes are presented for the parallel manipulator. According to the cutting force model and motion planning of the cutting tool, the dynamic simulations with three counterweight modes are performed, and the mass of counterweight in each counterweight mode is optimized by minimizing the sum of mean square values of actuator forces. The simulations show that the optimal mass of counterweights does not equal the total mass of moving parts of the parallel manipulator, and each counterweight mode has its advantage and disadvantage. Considering the ease in which a counterweight can be implemented, the counterweight mode where two counterweights are connected to two sliders is adopted for the parallel manipulator.

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