Decentralized structure-integrated spatial force measurement in machine tools
Decentralized structure-integrated spatial force measurement in machine tools
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DOI：
10.1016/j.mechatronics.2016.08.008
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发表时间：
2016-12-01
期刊：
影响因子：
3.3
通讯作者：
Ihlenfeldt, S.
中科院分区：
文献类型：
--
作者：
Friedrich, C.;Kauschinger, B.;Ihlenfeldt, S.
现代机床的新制造工艺和扩展的可移动性（例如五轴运动或六足机床）增加了对多达6个自由度（DoF）的空间力和扭矩的过程测量的需求。在本文中提出的方法是基于6个单轴力传感器集成到机器的结构，并将这些传感器的力量转换为空间力和扭矩的工具中心点（TCP）使用的测量模型的想法。与最先进的6 DoF力/扭矩传感器相比，该概念在成本、坚固性和可用工作空间方面都具有优势。同时，可实现的测量精度与基于驱动电流的力评估的精度相似，并且也明显优于基于驱动电流的力评估的精度。另一方面，结构和机器的影响必须通过合适的测量模型来解决。本文介绍了设计，参数化，验证和表征这些测量模型的四个集成的概念，两个在刚性杆框架和两个在酒吧的运动学的例子。此外，示出了与6 DoF FIT传感器和基于驱动电流的力测量相比分类的实验结果。最后，其他的影响，如结构设计和变形，以及传感器和模型集成到机器的控制软件进行了讨论。(C)2016爱思唯尔有限公司版权所有
New manufacturing processes and extended movability of modern machine tools, such as five-axis kinematics or hexapods, increase the demand for in-process measurement of spatial forces and torques in up to 6 degrees of freedom (DoF). The approach proposed in this paper is based on the idea of integrating 6 single-axis force sensors into the machine's structure and converting these sensor forces to spatial forces and torques at the tool centre point (TCP) using a measurement model. This concept is advantageous to costs, ruggedness and available workspace when compared to state-of-the-art 6 DoF force/torque transducers. At the same time, the achievable measuring accuracy is similar and also significantly better than the accuracy of drive current based force evaluation. On the other hand, structure and machine influences have to be addressed by suitable measurement models. This article presents design, parametrization, verification, and characterisation of these measurement models on the example of four integration concepts, two in rigid bar frameworks and two in bar kinematics. Further, experimental results are shown which are classified in comparison to a 6 DoF FIT sensor and drive current based force measurement. Finally, other influences, such as structural design and deformations, as well as the integration of sensors and models into the machine's control software are discussed. (C) 2016 Elsevier Ltd. All rights reserved.