Development and analysis of principles for kinematically coupled force-compensation for machine tools

为了提高机械加工的经济效益，必须提高生产率，同时至少保持加工质量，并保持适度的总拥有成本。因此，为了加工或搬运，工件和刀具之间的相对运动必须以高动态进行。但机床和装卸设备的动力学增长达到了极限。最先进的驱动和控制系统提供了更高的速度、加速和冲击，但机器结构只能通过振荡来承受这些。动力学的限制减少了机器结构振动的激励，但也降低了生产率。为了减少动力反作用力对机器结构的影响，人们开发了各种原理。在本研究项目中，将冗余轴和力补偿的原理结合起来，形成了一种新的原理--运动学耦合力补偿。这一原理要求对机器结构进行专门的设计，并为高动态、高精度和高能效的运动提供了可能性。在该项目的第二阶段，无论决定机器精度的机器底盘是什么，都可以开发出能够以最佳方式抵消驱动反作用力的机器结构。此外，还发生了向平面运动系统的过渡，从而可以显著扩展所开发方法的应用背景。此外，还开辟了超高动态运动的范围。

In order to improve the economic efficiency in machining, productivity has to be increased while machining quality is at least maintained and total cost of ownership stays moderate. Due to this, relative movements between work piece and tool for the purpose of machining or handling must be conducted with high dynamics. But the increase of dynamics of machine tools and handling equipment reaches its limits. State of the art drive and control systems provide higher velocities, accelerations and jerk, but machine structures can withstand these only with oscillations. The limitation of dynamics reduces the excitation of oscillations of the machine structure but also reduces productivity. Various principles were developed to reduce the effect of dynamic reaction forces on machine structures. In this research project the principles of redundant axes and force compensation are combined to a novel principle - the kinematically coupled force compensation. This principle demands a specialized design of machine structures and offers the potential for highly dynamic, precise and energy-efficient movements.In the second phase of the project, machine structures are developed which enable the drive reaction forces to be optimally canceled regardless of the machine chassis that determines the accuracy of the machine. In addition, the transition to a planar motion system takes place, whereby the application background of the developed method can be significantly expanded. Additionally the range of ultra-high-dynamic motions is opened up.