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Development of Hybrid Parallel Mechanism for High Precision Work and Method for Compensating its Work Error

高精度加工混合式并联机构及其加工误差补偿方法的研制

基本信息

批准号：
15360082
负责人：
TACHIYA Hiroshi
金额：
$ 9.79万
依托单位：
Kanazawa University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2005
项目状态：
已结题

项目摘要

This research has developed a 5-dof special mechanism for machine tool. As the mechanism is composed of a spatial 3-dof parallel mechanism and a 2-dof planar guide table, it is expected to have a large workspace and high rigidity. The spatial 3-dof parallel mechanism comprises 3-RPS chains and furthermore has board-like links for suppressing bending deformation induced in prismatic pairs and the prismatic pairs are fixed on them at each end. Thus the proposed mechanism will realize higher rigidity and high speed motion. Next, the research has established a method for evaluating output errors of multiple degree-of-freedom mechanisms by forces applied to the output link in arbitrary direction. The output errors evaluated here result from elastic deformations of the driving parts. The evaluation values can be obtained by solving the eigenvalue problem of the matrix introduced from the compliance matrix which reveals the relations between the output error and force applied to mechanism. Th … More e method will facilitate to improve the rigidity of a multiple degree-of-freedom mechanism such as a parallel mechanism in its design. Furthermore, the proposed method can consider elastic deformation induced in the structures as well as the driving parts. Thus, the research analyzed the above mentioned spatial 3-dof parallel mechanism by the proposed method with considering the shape of the board-like links for improving the output errors caused by the translational and rotational deformation in the prismatic pairs. Based on the above results, we designed a 5-dof machine tool and assembled it actually. By the tool machine the research performed multiple degrees of freedom working and confirmed its availability. Next, the research considered the work error caused from the non-linearity relation between the output and input of parallel mechanism, and proposed the method for evaluating it by utilizing differential kinematics that is expressed by the Jacobian matrix. The method can evaluate the maximum value of the ratio of the output to input displacement to the arbitrary direction at each configuration of multiple degrees of freedom mechanism. We actually measured the work error by the assembled machine and confirmed it conforms to the evaluated results. From those results, the research has proposed the method for determining the optimum step size to control machine tool and confirmed its availability. Furthermore, the research considered a method for compensating the various error of the developed mechanism by the response surface methodology. We proposed the method for estimating the distribution of the error induced from the structural error and giving the compensation value for the input displacement. The availability of the proposed method has been confirmed by the numerical simulation of the present mechanism. Less

本研究开发一种五自由度之专用机床机构。由于该机构由空间三自由度并联机构和二自由度平面导轨工作台组成，因此具有较大的工作空间和较高的刚度。空间三自由度并联机构包括3-RPS链，并且还具有板状连杆，用于抑制在棱柱副中引起的弯曲变形，棱柱副在每个端部处固定在板状连杆上。因此，该机构将实现更高的刚度和高速运动。其次，本研究建立了一种以输出杆件任意方向受力来评估多自由度机构输出误差的方法。这里所评估的输出误差是由驱动部件的弹性变形引起的。由柔度矩阵导出的矩阵的特征值问题，揭示了输出误差与机构受力之间的关系，通过求解该矩阵的特征值问题，可以得到机构的评价值。日 ...更多信息该方法有助于提高并联机构等多自由度机构的刚度。此外，所提出的方法可以考虑弹性变形引起的结构以及驱动部件。因此，本研究针对上述之空间三自由度并联机构，考虑板状杆件之形状，以改善因滑移副平移及转动变形所造成之输出误差。在此基础上，设计了一台五自由度机床，并进行了实际装配。利用该机床进行了多自由度加工，验证了其有效性.其次，研究考虑了并联机构输出与输入之间的非线性关系引起的工作误差，提出了利用雅可比矩阵表示的微分运动学来评估其误差的方法。该方法可以求出多自由度机构在任意位置处任意方向的输出与输入位移之比的最大值。我们实际测量了装配机器的工作误差，并确认其符合评估结果。在此基础上，提出了确定机床最佳控制步长的方法，并验证了其有效性。此外，研究考虑了一种方法来补偿的各种误差的开发机构的响应面法。提出了由结构误差引起的误差分布的估计方法和输入位移补偿量的确定方法。数值模拟结果验证了该方法的有效性。少