Stiffness Computation and Identification of Parallel Kinematic Machine Tools

Author:

Bonnemains Thomas1,Chanal Hélène1,Bouzgarrou Belhassen-Chedli1,Ray Pascal1

Affiliation:

1. Laboratoire de Mécanique et Ingénieries, IFMA/UBP, Campus de CLERMONT-FERRAND-Les Cézeaux, BP 265, 63175 Aubière Cedex, France

Abstract

This paper deals with the stiffness computation and model identification of parallel kinematic machine tools (PKMs). Due to their high dynamic abilities, PKMs are subjected to high inertial and cutting loads while machining. These loads generate structure deflection, and it results in a low level of accuracy compared with serial machines. The aim of this paper is to present a “compact” and predictable model of PKM. This model could be useful to optimize part positioning in the workspace or adapt machining strategies in order to minimize the influence of structure deflections. The proposed model takes into account legs’ and joints’ compliances. Considering the geometry of most of parallel architectures, the legs are modeled as beams. The focus, here, is particularly on joints’ models. In literature, when the compliance of joints is considered, it is most of the time modeled with a constant stiffness. In this paper, a different approach is proposed, based on a technical analysis of the joints. Models proposed are applied to an existing PKM: the Tricept. The parameters of this model (i.e., the stiffness of the joints) are then identified; thanks to experimental stiffness measurements done on an ABB 940 Tricept robot. This robot is used in the industry for machining operations, such as grinding or drilling. A discussion about identifiable parameters is performed so as to best fit with experimental measurements. Finally, this model is used to define a static workspace where the machined parts are within the tolerances for a given operation.

Publisher

ASME International

Subject

Industrial and Manufacturing Engineering,Computer Science Applications,Mechanical Engineering,Control and Systems Engineering

Cited by 33 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3