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dynamic accuracy Analysis of a 5PSS/UPU Parallel Mechanism Based on Rigid-Flexible Coupled Modeling

Chinese Journal of Mechanical Engineering 2022年第2期35卷 77-90页

作者： Yanbiao Li Zesheng Wang Chaoqun Chen Taotao Xu Bo Chen College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310023China Key Laboratory of E&M Ministry of Education&Zhejiang ProvinceZhejiang University of TechnologyHangzhou 310023China

In order to improve the low output accuracy caused by the elastic deformations of the branch chains,a finite element-based dynamic accuracy analysis method for parallel mechanisms is proposed in this ***,taking a 5-prismatic-spherical-spherical(PSS)/universal-prismatic-universal(UPU)parallel mechanism as an example,the error model is established by a closed vector chain method,while its influence on the dynamic accuracy of the parallel mechanism is analyzed through numerical *** to the structural and error characteristics of the parallel mechanism,a vector calibration algorithm is proposed to reduce the position and pose errors along the whole motion ***,considering the elastic deformation of the rod,the rigid-flexible coupling dynamic equations of each component are established by combining the finite element method with the Lagrange *** elastodynamic model of the whole machine is obtained based on the constraint condition of each moving part,and the correctness of the model is verified by ***,the effect of component flexibility on the dimensionless root mean square error of the displacement,velocity and acceleration of the moving platform is investigated by using a Newmark method,and the mapping relationship of these dimensionless root mean square errors to dynamic accuracy is further *** research work provides a theoretical basis for the design of the parameter size of the prototype.

关键词： Parallel mechanism Geometric error Calibration algorithm Elastodynamic model dynamic accuracy

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dynamic synchronous motion accuracy measurement and estimation for a five-axis mirror milling system

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Science China(Technological Sciences) 2023年第3期66卷 689-705页

作者： XU Kun TANG XinYu BI QingZhen YU YangBo QIAN DeHou JI YuLei State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Shanghai TOP Numerical Control Technology Co. Ltd.Shanghai 201100China

A mirror milling system(MMS)comprises two face-to-face five-axis machine tools,one for the cutting spindle and the other for the support *** it is essential to maintain the cutter and support coaxial during the cutting process,synchronous motion accuracy is the key index of the *** paper proposed a novel method for measuring and estimating the synchronous motion accuracy of the dual five-axis machine *** method simultaneously detects errors in the tool center point(TCP)and tool axis direction(TAD)during synchronous *** implement the suggested method,a measurement device,with five high-precision displacement sensors was developed.A kinematic model was then developed to estimate the synchronous motion accuracy from the displacement sensor *** screw theory was used to obtain the analytical expression of the inverse kinematic model,and the synchronous motion error was compensated and adjusted based on the inverse kinematic model of the dual five-axis machine *** and TAD quasi-static errors,such as geometric and backlash errors,were first *** adjusting the servo parameters,the dynamic TCP and TAD errors,such as gain mismatch and reversal spike,were also *** proposed method and device were tested in a large MMS,and the measured quasi-static and dynamic errors were all reduced when the compensation and adjustment method was *** Carlo simulations were also used to estimate the uncertainty of the proposed scheme.

关键词： mirror milling synchronous motion error five-axis machine tool measurement dynamic accuracy

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