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.

这项研究提出了补偿方法，用于平行运动机制和支持该机制的框架的变形。通常，这些变形是由过程中的热量，内力和外力引起的。首先，球形接头和革命关节的跳动和变形是由建立上述接头内置的九个位移传感器或棱柱形关节内建立的线性尺度单元来测量和补偿的。其次，棱柱接头的纵向变形是通过连接到接头和线性尺度单元的超界面杆机械补偿的。此外，带有9个超级红色杆的九个位移传感器测量表面板和三个球形接头支撑之间的距离变化。因此，六足动物机制的正向运动学计算了从测量数据运行过程中机制的位移和态度变化。最后，终端效应器的坐标是通过这些机制的这些位移和态度来补偿的。实验结果表明，温度波动的影响和测量值的变化减少。得出的结论如下；（1）在关节甚至线性尺度单元中内置的位移传感器都可以测量关节运动误差和链路的热膨胀，（2）连接尺度单元和超级型杆连接关节的热量扩展和链接的弹性变形既可以补偿链路的差异，（3）测量板板的距离的变化，可以弥补型号的距离范围的变化。