Novel methodology for the measurement and identification for quasi-static stiffness of five-axis machine tools

Laspas, Theodoros; Theissen, Nikolas Alexander; Archenti, Andreas

doi:10.1016/j.precisioneng.2020.06.006

Cited by 24 publications

(9 citation statements)

References 11 publications

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“…Other authors have used the term quasi-static to indicate that the robot [2] or machine tool [25] are moving during the measurement phase. In that sense, the term quasi-static compliance refers to the parameterisation of a compliant manipulator model by using a tuple, which consists of the configuration in terms of joint angles , the quasi-static wrench W QS , and the deflection X QS vector, as follows:…”

Section: Quasi-static Compliancementioning

confidence: 99%

“…The deflections of the industrial manipulators were not derived as the difference between the unloaded and loaded configuration but as the difference of a loaded configuration with respect to another loaded configuration at the MBLR. This approach can also be considered as a pre-loading of the components in the force loop [25]. This procedure was meant to reduce errors in the measurement resulting from play or backlash (out of the scope of this work).…”

Section: Mechanical Base Load Referencementioning

confidence: 99%

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Influence of the velocity on quasi-static deflections of industrial articulated robots

Gonzalez

Theissen

Agirre³

et al. 2023

Int J Adv Manuf Technol

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This article presents the measurement and analysis of the influence of velocity on the quasi-static deflections of industrial manipulators of three different manufacturers. Quasi-static deflection refers to the deflection of the end effector position of articulated robots during movement at low velocity along a predefined trajectory. Based on earlier reported observations by the authors, there exists a difference in the static and quasi-static deflections considering the same points along a trajectory. This work investigates this difference to assess the applicability of robotic compliance calibration at low velocities. For this assessment, the deflections of three industrial articulated robots were measured at different speeds and loads. Considering the similarity among the robot models used in this investigation, this work also elaborates on the potential influence of the measurement procedure on the measured deflections and its implications for the compliance calibration of articulated robots. For all industrial articulated robots in this investigation, the quasi-static deflections are significantly larger than the static ones but similar in trend. Additionally, the magnitude of the quasi-static deflections presents a proportional relationship to the Cartesian velocity.

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Section: Quasi-static Compliancementioning

confidence: 99%

Section: Mechanical Base Load Referencementioning

confidence: 99%

Influence of the velocity on quasi-static deflections of industrial articulated robots

Gonzalez

Theissen

Agirre³

et al. 2023

Int J Adv Manuf Technol

Self Cite

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show abstract

“…[24,25] use rigid bodies for the modelling of the relationship between axes and a rigid coupling of the elements. [26,27] focus on modelling the stiffness between the machine components and the resulting influence on positioning errors. However, here the static stiffness is constant and will be calculated either initially via a FEM-Model or experimental at the beginning of the life cycle.…”

Section: Analysis Of System Properties -Influence Of Wear Effectsmentioning

confidence: 99%

Cyber-Physical Test Environment for the Identification of Interacting Wear Effects in Feed Axes

Bott¹,

Stöbel²,

Osen³

et al. 2023

Journal of Machine Engineering

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For a comprehensive optimization and control of production processes, cyber-physical systems are necessary to include machines' time-dependent properties. These wear effects in machine tools, especially the feed axes, can significantly influence the process quality and are a steady research focus. However, the interaction of wear effects between different feed axes has received little attention. Especially models that represent the combined wear influence of different interacting feed axes on the control parameters and machine dynamics hold great potential. To close this knowledge gap, this paper proposes a cyber-physical test environment to identify the interaction of wear effects in feed axes. For this test environment, the relevant boundary conditions of different feed axes in machine tools and their systematic interaction are presented. Through these conditions, a physical test setup is derived and, analogous to this, a virtual model is created. This holistic approach represents the physical and virtual interaction between different components.

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“…D. Olvera [18] proposed a static stiffness measurement method along the turning center kinematic chain, and analyzed the tool tip radial stiffness of turn-milling centers. With the help of a loaded double-ball bar and linear variable differential transformer, Laspas [19] proposed a new method to measure and identify the full translational stiffness Lubricants 2022, 10, 132 2 of 14 matrices of the five-axis machining center by using the quasi-static circular trajectory, and realized the accurate identification of the quasi-static stiffness of the five-axis machine tool. As the accuracy of spindle machining improves, the spindle's service speed must also increase.…”

Section: Introductionmentioning

confidence: 99%

Research on the Effect of Spindle Speed on the Softening and Hardening Characteristics of the Axial Operating Stiffness of Machine Tool Spindle

Wang

Sun

et al. 2022

Lubricants

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Spindle stiffness is one of the most critical indicators for evaluating and measuring the service performance of spindles. The traditional static stiffness indexes only involve static analysis and rarely focus on the study of spindle-carrying capacity under operating conditions. In this paper, the explicit solution approach is used to develop a mechanical model of the spindle’s axial operating stiffness. This model was then used to explore the influence of rotational speed on the softening and hardening features of the spindle axial operating stiffness, and experimental verification was carried out. According to studies, the speed of a fixed-position preload spindle can lead its operating stiffness to exhibit a “stiffness-hardening” feature. However, when the axial displacement of the spindle is small, the operating stiffness curve of the spindle displays a noticeable “fluctuation” phenomenon for low-speed spindles. Furthermore, the speed-induced preload has a significant impact on the test results when testing spindle axial operating stiffness.

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Novel methodology for the measurement and identification for quasi-static stiffness of five-axis machine tools

Cited by 24 publications

References 11 publications

Influence of the velocity on quasi-static deflections of industrial articulated robots

Influence of the velocity on quasi-static deflections of industrial articulated robots

Cyber-Physical Test Environment for the Identification of Interacting Wear Effects in Feed Axes

Research on the Effect of Spindle Speed on the Softening and Hardening Characteristics of the Axial Operating Stiffness of Machine Tool Spindle

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