Spatial force measurement using a rigid hexapod-based end-effector with structure-integrated force sensors in a hexapod machine tool
Spatial force measurement using a rigid hexapod-based end-effector with structure-integrated force sensors in a hexapod machine tool
复制标题
DOI：
10.1016/j.measurement.2019.05.044
复制
发表时间：
2019-10-01
期刊：
影响因子：
5.6
通讯作者：
Ihlenfeldt, S.
中科院分区：
文献类型：
--
作者：
Friedrich, C.;Kauschinger, B.;Ihlenfeldt, S.
在机床中，许多制造应用都需要进行过程中的力测量，其中对高达6个自由度（DoF）的空间测量的需求正在增长。除了昂贵的商用6 DoF力/扭矩传感器或模糊的驱动电流评估之外，传感器集成作为机器部件或关节的一部分已经讨论了很长时间。这里提出的方法，集成了6个具有成本效益的商业1自由度力传感器在六足结构和运动学，这是特别适合于传感器集成，由于没有摩擦，主要是纵向力的存在和6自由度的可用性。这些传感器可以被放置在不同的位置，因此本文重点介绍了一个刚性的六足末端执行器。由于末端执行器不是一个独立的测量系统，而是机器的一部分，它在工作空间中动态移动并携带工件或工具，因此需要一个合适的测量模型来解决所有这些影响。经过简要的文献综述和介绍的方法，这项工作提出了动态测量模型，包括传感器和准静态误差参数，方面的最佳框架设计和几个步骤的验证和评估的新的测量系统。这些包括静态载荷的应用、工作空间分析、动态传递行为、刚体动力学补偿以及铣削过程中的过程力测量。(C)2019爱思唯尔有限公司版权所有。
In machine tools, in-process force measurement is required by many manufacturing applications, where a particular demand for spatial measurements in up to 6 degrees of freedom (DoF) is growing. Beside expensive commercial 6 DoF force/torque sensors or vague drive current evaluation, sensor integration as part of machine components or joints has been discussed for a long time. The approach presented here, integrates 6 cost-efficient commercial 1 DoF force sensors in hexapod structures and kinematics, that are particularly suitable for sensor integration due to the absence of friction, the presence of mainly longitudinal forces and the availability of 6 DoF. These sensors can be placed at different positions, whereby this article focuses on a rigid hexapod-based end-effector. As the end-effector is not an independent measuring system, but part of a machine, that moves dynamically through the workspace and carries workpieces or tools, a suitable measurement model is necessary that addresses all those influences. After a brief literature overview and introduction to the approach, this work presents the dynamic measurement model including sensor and quasi-static error parameters, aspects about optimal framework design and several steps of validation and evaluation of the new measuring system. These include application of static loads, workspace analysis, dynamic transfer behaviour, rigid body dynamics compensation and, finally, process force measurement during a milling process. (C) 2019 Elsevier Ltd. All rights reserved.