Hybrid Force/Position Control Investigation of Parallel Machine Tool with Redundant Actuation

2011 ◽  
Vol 121-126 ◽  
pp. 2040-2044 ◽  
Author(s):  
Hai Tao Tang ◽  
Jian Tao Yao ◽  
Li Cheng ◽  
Yong Sheng Zhao
Keyword(s):  
Machine Tool ◽  
Control Strategy ◽  
Position Control ◽  
Hybrid Control ◽  
Dynamic Performance ◽  
Parallel Machine ◽  
Inverse Kinematic ◽  
Control Mode ◽  
Redundant Actuation ◽  
Parallel Machine Tool

A novel redundantly actuated parallel machine tool was introduced. The inverse kinematic of 5-UPS/PRPU PMT with redundant actuation was analysed and the driven force of redundant actuation limb was planned. The force/position hybrid control strategy and dynamic differential calculation control strategy were proposed. Then the experiment of evaluating dynamics in the position control mode and in the force/position hybrid control was carried out respectively. The experiment shows that, the force/position hybrid control can improve driven torque of each limb better, balance the load of each limb and is of great help for enhance the dynamic performance of entire PMT.

Research on Error Compensation by Semi-Closed Loop Control for a 3-UPS Parallel Machine Tool

2012 ◽  
Vol 461 ◽  
pp. 272-276
Author(s):  
Jian Ye Guo ◽  
Jia Shun Shi ◽  
Liang Zhao
Keyword(s):  
Machine Tool ◽  
Error Compensation ◽  
Closed Loop ◽  
Parallel Machine ◽  
Control Mode ◽  
Closed Loop Control ◽  
Kinematics Analysis ◽  
Compensation Strategy ◽  
Loop Control ◽  
Parallel Machine Tool

This paper took a 3-UPS Parallel Machine Tool (PMT) as the object of research; it mainly introduced the process of establishing the compensation strategy for this PMT. Firstly the kinematics equations on driving chain and constraint chain was established on the basis of kinematics analysis. Then according to the structural characteristics and the results of kinematics analysis, the error compensation strategy of feedback correction type with the semi-closed loop control mode was used in the error compensation for this PMT by the method of installing respectively the encoders on the each joint of parallelogram mechanism, namely the compensation way of “parallel driving and series feedback” was adopted. Finally this paper has also deduced the theoretical model of error compensation. The research results in this paper provided a theoretical basis for realizing error compensation of this PMT, and had important practical significance for improving machining precision of PMT

Research on Vibration Behaviors Simulation for a Novel High-Speed PMT

2010 ◽  
Vol 29-32 ◽  
pp. 2047-2052 ◽  
Author(s):  
Xiu Long Chen ◽  
Shuai Shuai Jia ◽  
Xue Yan Jiang ◽  
Yong Sheng Zhao
Keyword(s):  
Machine Tool ◽  
High Speed ◽  
Optimization Design ◽  
Dynamic Performance ◽  
Parallel Machine ◽  
Vibration Velocity ◽  
Vibration Displacement ◽  
Vibration Model ◽  
Parallel Machine Tool ◽  
Dynamic Performance Analysis

In order to grasp the vibration characteristics of a novel High-Speed 4-HPS-HPH PMT(parallel machine tool), A vibration behaviors analysis method using virtual prototype simulation was put forward. By the united application of CAD, CAE and visual technologies, the rigid-flexible vibration model of 4-HPS-HPH PMT was constructed. Then the dynamic response of the tool tip, including vibration displacement, vibration velocity, vibration acceleration, and maximum dynamic stresses of driving limbs were realized. The simulation results show that the rigid-flexible vibration model proposed can indicate the vibration behaviors of parallel machine tool. This research provides necessary guidance for dynamic performance analysis, optimization design and control of this 4-HPS-HPH PMT.

A 3-DOF Parallel Manipulator Based 5-Axis Parallel Kinematics Machine Tool

2011 ◽  
Vol 317-319 ◽  
pp. 698-702
Author(s):  
Wen Jia Chen ◽  
Lan Lei Zhao ◽  
Jiang Zhang
Keyword(s):  
Machine Tool ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Parallel Machine ◽  
Virtual Manufacturing ◽  
Control Mode ◽  
Work Piece ◽  
Nc System ◽  
Axis Parallel ◽  
Parallel Machine Tool

Though computer technology has brought about virtual manufacturing to expedite design and analysis through simulation and visualization, machines remain essential, as ultimately products need to be made. This paper presents a new type of 5-axis parallel machine tool based on a 3 degrees of freedom parallel platform manipulator with base mounted prismatic actuators. This machine tool is different from the Stewart platform type parallel machine tool in that its feed motion in X-direction is realized by the worktable on which work-piece is fixed and the parallel manipulator sliding on the gantry structure of the machine tool is responsible for the translation along Y-direction instead of the movable platform of the manipulator. Due to this special architecture, the workspace in X-direction and Y-direction of the new machine tool is enlarged greatly. And its rigidity is higher because of the adaptation of gantry structure. This machine tool is controlled by a PC based NC system in simultaneous 5 axes control mode.

The Error Compensation Strategy of 3-TPT Parallel Machine Tool Based on Semi-Closed Loop Control

2011 ◽  
Vol 321 ◽  
pp. 176-179
Author(s):  
Jian Ye Guo ◽  
Zhong Qi Sheng ◽  
Liang Zhao
Keyword(s):  
Machine Tool ◽  
Error Compensation ◽  
Closed Loop ◽  
Parallel Machine ◽  
Control Mode ◽  
Closed Loop Control ◽  
Kinematics Analysis ◽  
Compensation Strategy ◽  
Loop Control ◽  
Parallel Machine Tool

This paper took a kind of 3-TPT Parallel Machine Tool (PMT) as the object of research; it mainly introduced the process of establishing the compensation strategy for this PMT. Firstly the kinematics equation of this PMT was established on the basis of kinematics analysis, the results showed that the kinematics equation of this PMT have characteristics that are simple calculation, explicit expression and unique solution. Then according to the structural characteristics and the results of kinematics analysis, the error compensation strategy of feedback correction type with the semi-closed loop control mode was used in the error compensation for this PMT by the method of assembling the gratings on the driving rods, namely the compensation way of “parallel driving and parallel feedback” was adopted. The research results in this paper provided a theoretical basis for realizing error compensation of this PMT, and had important practical significance for improving machining precision of PMT.

Oppositely oriented series multiple tuned mass dampers and application on a parallel machine tool

2022 ◽  
Vol 163 ◽  
pp. 108196
Author(s):  
Wenshuo Ma ◽  
Xiaoliang Jin ◽  
Jingjun Yu ◽  
Yiqing Yang ◽  
Xinjun Liu ◽  
...  
Keyword(s):  
Machine Tool ◽  
Parallel Machine ◽  
Tuned Mass Dampers ◽  
Parallel Machine Tool ◽  
Multiple Tuned Mass Dampers
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