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Feedback system for compensating of joint runout and thermal deformation in parallel kinematic machine

并联运动机中补偿关节跳动和热变形的反馈系统

基本信息

批准号：
13650150
负责人：
OIWA Takaaki
金额：
$ 2.24万
依托单位：
Shizuoka University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2001
资助国家：
日本
起止时间：
2001 至 2002
项目状态：
已结题

项目摘要

This study proposes compensation methods for deformations of both the parallel kinematic mechanism and the frame supporting the mechanism. In general, these deformations are caused by the heat, the internal forces and the external forces during the processes. First, runouts and deformations of spherical joints and revolutionary joints are measured and compensated by nine displacement sensors built in above joints or by linear scale units built in the prismatic joints. Second, the longitudinal deformation of the prismatic joints is mechanically compensated by Super-Invar rod connected to the joints and the linear scale units. Moreover, nine displacement sensors with nine Super-Invar rods measure the variation of distances between the surface plate and three spherical joint supports. Consequently, the forward kinematics of Hexapod mechanism calculates the displacement and the attitude variations of the mechanism during operating from measured data. Last, the coordinates of the end effecter are compensated by these displacements and attitude of the mechanism. Experimental results show reduction of the influence of the temperature fluctuation and variation of measured values. The conclusions are drawn as follows ; (1) The displacement sensors built in the joints and even the linear scale unit can measure the joint motion errors and the thermal expansion of the link, (2) Connecting the scale unit and the joints by Super-Invar rods compensates both the thermal expansion and the elastic deformation of the link, (3) Measuring the changes of the distances between the surface plate and the joint supports can compensate the frame deformation caused by the temperature fluctuation.

本研究提出了并联运动机构和支撑机构的框架变形的补偿方法。一般来说，这些变形是由加工过程中的热量、内力和外力引起的。首先，通过内置于上述关节中的九个位移传感器或内置于棱柱关节中的线性尺单元来测量和补偿球形关节和旋转关节的跳动和变形。其次，棱柱形关节的纵向变形通过连接到关节和线性刻度单元的超级殷钢杆进行机械补偿。此外，带有九个超级殷钢杆的九个位移传感器测量表面板和三个球形关节支撑之间的距离变化。因此，六足机构的正向运动学根据测量数据计算机构在运行期间的位移和姿态变化。最后，通过机构的这些位移和姿态来补偿末端执行器的坐标。实验结果表明，减少了温度波动和测量值变化的影响。结论如下：（1）关节甚至线性标尺单元中内置的位移传感器可以测量关节运动误差和连杆的热膨胀，（2）通过超级殷钢杆连接标尺单元和关节，补偿连杆的热膨胀和弹性变形，（3）测量平台和关节支撑之间的距离变化可以补偿温度波动引起的框架变形。