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STUDY FOR METAL CUTTING MACHINE TOOLS USING PARALLEL MECHANISM

并联机构金属切削机床的研究

基本信息

批准号：
09650138
负责人：
IHARA Yukitoshi
金额：
$ 2.5万
依托单位：
KYOTO UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1997
资助国家：
日本
起止时间：
1997 至 1999
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09650138/
关键词：
parallel mechanism machine tool machining process ball screw servo motor calibration 運動精度 DBB法

项目摘要

A machine tool for metal cutting with parallel mechanism is produced. It uses three ball screws and servo motors as a parallel mechanism, which is installed on a base in a triangle. A point on the end plate is controlled in 3 degree of freedoms. On the end plate 2 servo motors with reduction gear are installed and the main spindle is controlled in 5 degree of freedoms.The machine has the purpose for end milling, drilling and polishing for steel and aluminum, thus it needs high stiffness as well as high speed. It has proved to have enough speed but less stiffness. When the machine is reproduced so as to have enough stiffness, the weight is increased and the speed is decreased.In order to drill more safely and speedy, possibility of force control, which is not adopted on conventional machine tools, is considered. Moreover, the possibility for measuring machine by installing measuring probe instead of the spindle is discussed.There are no ultimate methods to calibrate kinematic parameters. In this research, two methods are tried. One is to use straight movement error, the other is to use a circular movement test. Telescoping ball bar is used for circular motion test. In order to analyze the trace pattern of circular motion test, Fourier series is introduced. The results show that the motion error is reduced to one fourth on the circularity when the parameters are identified by circular test.

研制了一种具有并联机构的金属切削机床.它使用三个滚珠丝杠和伺服电机作为并联机构，安装在三角形的底座上。端板上的一个点被控制在3个自由度中。在端板上安装2个带减速器的伺服电机，主轴5自由度控制。该机床具有对钢和铝进行端铣、钻孔和抛光的用途，因此需要高刚度和高速度。它被证明有足够的速度，但刚度较小。当机器被复制以具有足够的刚度时，重量增加，速度降低。为了更安全和快速地钻孔，考虑了常规机床上不采用的力控制的可能性。此外，还讨论了测量机采用测头代替主轴的可能性，但运动参数的标定还没有最终的方法。在本研究中，尝试了两种方法。一种是采用直线运动误差，另一种是采用圆周运动测试。圆周运动试验采用伸缩式球杆。为了分析圆周运动试验的轨迹模式，引入了傅里叶级数。结果表明，采用圆检验法进行参数辨识，运动误差在圆度上减小到原来的四分之一。