权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

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.

本研究提出了补偿方法的变形的并联运动机构和框架支持的机构。通常，这些变形是由过程中的热、内力和外力引起的。首先，球关节和旋转关节的跳动和变形的测量和补偿的九个位移传感器内置在上面的关节或线性标尺单元内置在棱柱关节。第二，棱柱形接头的纵向变形通过连接到接头和线性标尺单元的超级因瓦杆进行机械补偿。此外，九个位移传感器与九个超级因瓦杆测量面板之间的距离的变化，三个球关节支持。在此基础上，对六足机构进行了运动学正解，根据实测数据计算出了机构在工作过程中的位移和姿态变化。最后，利用这些位移和机构的姿态对末端执行器的坐标进行补偿。实验结果表明，该方法能有效地降低温度波动和测量值变化的影响。得出以下结论：（1）内置在关节甚至线性标尺单元中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Super-Invar杆连接标尺单元和关节补偿连杆的热膨胀和弹性变形，（3）通过测量面板与连接支座之间的距离变化，可以补偿温度波动引起的框架变形。