scholarly journals Gravity compensation of a 6-UPS parallel kinematics machine tool through elastically balanced constant-force generators

2018 ◽  
Vol 46 (1) ◽  
pp. 10-16 ◽  
Author(s):  
Alberto Martini
Keyword(s):  
Machine Tool ◽  
Constant Force ◽  
Gravity Compensation ◽  
Parallel Kinematics

Static Balancing of a Parallel Kinematics Machine With Linear-Delta Architecture

2014 ◽  
Author(s):  
Alberto Martini ◽  
Marco Troncossi ◽  
Marco Carricato ◽  
Alessandro Rivola
Keyword(s):  
General Theory ◽  
Closed Loop ◽  
Parallel Robot ◽  
Design Solution ◽  
Robot Design ◽  
Gravity Compensation ◽  
Parallel Kinematics ◽  
Static Balancing ◽  
Milling Operation ◽  
Working Performance

The study deals with the compensation of gravity loads in closed-loop mechanisms as a possible strategy for enhancing their working performance. This work focuses on the Orthoglide 5-axis, a prototypal parallel robot for milling operation, characterized by linear-delta architecture with two further serial DOFs. Starting from a general theory formerly proposed by the authors, gravity compensation of the mechanism is analytically carried out. The statically balanced Orthoglide 5-axis can be obtained by installing on one leg a proper set of extension springs and a simple additional linkage. A feasible design solution for developing the device in practice is presented. The proposed balancing device can be implemented with minor modifications of the original robot design, thus appearing a profitable solution to be possibly extended to other machinery with similar architecture.

scholarly journals Enhancing PKM Accuracy by Separating Actuation and Measurement: A 3DOF Case Study

2010 ◽  
Vol 2 (3) ◽  
Author(s):  
David Corbel ◽  
Olivier Company ◽  
Sébastien Krut ◽  
François Pierrot
Keyword(s):  
Machine Tool ◽  
Parallel Machine ◽  
Measuring System ◽  
Parallel Kinematics ◽  
Machine Accuracy ◽  
Control Schemes ◽  
Measurement Concept ◽  
Parallel Machine Tool ◽  
Independent Measuring

This paper proposes an approach for enhancing parallel kinematics machine accuracy by separating actuation and measurement. We describe the interest of the separation actuation and measurement concept and define the sensor redundancy used for designing the measurement device. Then, we present the design of a parallel machine-tool prototype with an independent measuring system, MoM3, as well as the optimization of its measuring system. Lastly, we present the control schemes used on the prototype, and provide experimental results to show the efficiency of separation actuation and measurement applied to a machine-tool.

scholarly journals Piezoelectric control of a machine tool with parallel kinematics

2007 ◽  
Author(s):  
Christian Rudolf ◽  
Jörg Wauer ◽  
Christian Munzinger ◽  
Martin Weis
Keyword(s):  
Machine Tool ◽  
Parallel Kinematics ◽  
Piezoelectric Control

Application of the Bridge Type Circuit on the Large-Scale Machine Tool Gravity Compensation System

2014 ◽  
Vol 800-801 ◽  
pp. 731-734
Author(s):  
You Jie Cai ◽  
Xue Feng Wang ◽  
Shi Gang Wang
Keyword(s):  
Machine Tool ◽  
Large Scale ◽  
Compensation System ◽  
Machining Accuracy ◽  
Gravity Compensation ◽  
Spindle Rotation ◽  
Bridge Type ◽  
Deformation Compensation ◽  
Higher Sensitivity

Through the analysis of the spindle ram deformation compensation during the process of large-scale machining, design a bridge type circuit which can improve the accuracy of processing after the ram’s moving out and meet the requirements of the compensation. The bridge type circuit has higher sensitivity for force and torque change, which improves the accuracy of machine tool. The mechanism greatly reduces the spindle rotation accuracy error caused by the gravity deviation, effectively improves the machining accuracy of the workpiece and guarantees the product accuracy of machine tool.

Active Vibration Control for a Machine Tool With Parallel Kinematics and Adaptronic Actuator

2009 ◽  
Vol 4 (3) ◽  
Author(s):  
Alexandra Ast ◽  
Peter Eberhard
Keyword(s):  
Machine Tool ◽  
Vibration Control ◽  
Position Control ◽  
Active Vibration Control ◽  
Linear Quadratic Regulator ◽  
Parallel Kinematics ◽  
Linear Quadratic ◽  
Control Approach ◽  
Authority Control ◽  
Active Vibration

The use of adaptronic components opens up interesting new possibilities for modern machine tools such as parallel kinematics. In this paper, two active vibration control concepts are designed for an adaptronic component of a parallel kinematic machine tool. The machine tool is modeled as a flexible multibody system model including a nonlinear flatness-based position control. Both the combination of a frequency shaped linear quadratic regulator with an active damping concept in a high authority control/low authority control approach and the H2 optimal control with gain scheduling show a high potential in the simulation to significantly increase the disturbance rejection or the tracking performance of the machine tool.

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