A minimal-error-model based two-step kinematic calibration methodology for redundantly actuated parallel manipulators: An application to a 3-DOF spindle head

Jiang, Shengming; Chi, Changcheng; Fang, Hanliang; Tang, Tengfei; Zhang, Jun

doi:10.1016/j.mechmachtheory.2021.104532

Cited by 19 publications

(3 citation statements)

References 45 publications

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“…More recently, the authors proposed a new 5-DOF (DOF: degree of freedom) hybrid machining tool composed of a 2R1T (T: translational; R: rotational) redundantly actuated parallel module and a 2T serial module. The conceptual design, the kinematics, and the stiffness analysis have been carried out in our previous studies, which has preliminarily confirmed its potential in machining complex structural components [10,11]. Before it can be used for high-efficient machining, an in-depth research on its numerical control (NC) system design, especially the smooth toolpath interpolation needs to be carried out.…”

Section: Introductionmentioning

confidence: 87%

Smooth toolpath interpolation for a 5-axis hybrid machine tool

Fang

Bao

et al. 2022

Robotica

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Due to the merits of high rigidity and good dynamics, hybrid machine tools have been gradually applied to efficient machining of thin-walled workpiece with complex geometries. However, the discontinuity of tangential component of toolpath in hybrid machine tools may cause velocity fluctuations, leading to poor surface quality of workpiece. In this paper, a novel 5-axis hybrid machine tool is taken as an example to demonstrate a smooth toolpath interpolation method. First, an adaptive acceleration and deceleration control algorithm is presented to realize the smooth transition between two constrained velocity points. Second, a spline curve-based interpolation algorithm is proposed to realize the smoothness of the trajectory. Meanwhile, a parameter synchronization method is proposed to ensure the synchronization of the interpolated tool-axis vector and the interpolated tool tip. Thirdly, an inverse kinematic analysis is conducted based on an inverse position solution model and a velocity mapping model. Finally, a set of machining tests on S-shape workpiece in line with the ISO standard is carried out to verify the effectiveness of the proposed smooth toolpath interpolation method.

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Section: Introductionmentioning

confidence: 87%

Smooth toolpath interpolation for a 5-axis hybrid machine tool

Fang

Bao

et al. 2022

Robotica

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“…And the position and orientation errors are inhomogeneous, making it difficult to compare multiple error sensitivity indices and thus difficult to identify critical geometric errors. Jiang [31] and Du [32] used the Monte Carlo algorithm to analyze the sensitivity of the 3-DOF parallel spindle head as well as the 2UPR-RPU over-constrained parallel manipulator, respectively, but they constructed two sensitivity indices for output position and orientation, respectively, which are still difficult to compare. To solve this problem, the influence of geometric error on the tool orientation error is ignored, and only the tool center point (TCP) position error is considered to construct the error sensitivity index in Refs.…”

Section: Introductionmentioning

confidence: 99%

A Novel Error Sensitivity Analysis Method for a Parallel Spindle Head

Wang,

Li,

2023

Robotics

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Geometric errors are the main factors affecting the output accuracy of the parallel spindle head, and it is necessary to perform a sensitivity analysis to extract the critical geometric errors. The traditional sensitivity analysis method analyzes the output position and orientation errors independently, defining multiple sensitivity indices and making it difficult to determine critical geometric errors. In this paper, we propose sensitivity indices that can comprehensively consider position and orientation errors. First, the configuration of the hybrid machine tool is introduced, and the TCP position error model is derived. Then, the tool radius and the effective cutting length are introduced, and the sensitivity indices are defined. After that, the sensitivity analysis of the 3-DOF parallel spindle head is performed using the proposed sensitivity indices, and six critical geometric errors are extracted. The machining accuracy of the parallel spindle head can be greatly improved by improving the critical geometric errors. The proposed sensitivity analysis method can provide important guidance for machine tool accuracy design.

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“…From the perspective of mechanism, a 1T2R RAPM can be constructed through the followings three traditional manners: (1) replacing one or more passive joints with active joints in an original parallel mechanism [30]; (2) adding a full-mobility active kinematic chain into an original parallel mechanism [29,31]; (3) introducing a lower-mobility active kinematic chain to an original parallel mechanism [32,33]. By adopting above three manners, a series of 1T2R RAPMs have been proposed in the past years [34][35][36].…”

Section: Introductionmentioning

confidence: 99%