Physics-based mechatronics modeling and application of an industrial-grade parallel tool head
Physics-based mechatronics modeling and application of an industrial-grade parallel tool head
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DOI：
10.1016/j.ymssp.2020.107158
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发表时间：
2021-02
影响因子：
8.4
通讯作者：
Dong Wang;Liping Wang;Jun Wu-
中科院分区：
文献类型：
--
作者：
Dong Wang;Liping Wang;Jun Wu-
本文以航空制造工业级并行刀头为研究对象，对基于物理的机电一体化建模进行了研究，并给出了一些应用。首先，基于物理过程描述了机电一体化建模框架。然后进行运动学、动力学和控制系统分析，完成机电一体化建模。在样机上进一步设计了典型的往复进给运动实验，以确定各驱动轴的摩擦扭矩。接下来，通过仿真与实验的对比进行了验证，结果表明跟踪误差和驱动扭矩均与实际值吻合较好，验证了机电一体化建模的有效性。最后，基于机电一体化建模进一步给出了跟踪性能预测和补偿的应用。论文主要成果可为工程技术人员提高分析设计效率提供有效工具，具有工业意义。
By taking an industrial-grade parallel tool head used for aviation manufacturing as an object of study, this paper investigates the physics-based mechatronics modeling, and some applications are also given. First, the mechatronics modeling framework is described based on the physical process. Then, the analyses of kinematics, dynamics and control system are performed to complete the mechatronics modeling. A typical reciprocating feed motion experiment is further designed on the prototype to identify the friction torque of each driving shaft. Next, some verifications are carried out through comparing the simulations with experiments, and the results show that both tracking error and driving torque are consistent well with actual values, which validate the effectiveness of the mechatronics modeling. Finally, an application is further given based on the mechatronics modeling to predict and compensate the tracking performance. The main results of the paper can provide an effective tool for engineers and technicians to improve analysis and design efficiency, which is meaningful in industry.