Influence of Servo Characteristics on Motion Accuracy of Parallel Kinematic Mechanism

Abstract:

Article Preview

Parallel kinematic mechanism (PKM) is applied to machine tools and robots since its flexibility and speed. In machine tools, additionally, motion accuracy is strongly desired. Although various research works aimed to calibrate static geometrical deviations of the PKM machines in order to improve motion accuracy, influence of dynamic motion error of servo system has not been investigated well up to now. In this study, the influence of servo characteristics on motion accuracy of a PKM machine tool driven by six servo motors is discussed, because it is expected that the contouring motion accuracy of a PKM machine tool is strongly depends on the servo characteristics. A servo motor which installed to the machine is modeled to simulate the motion characteristics of each servo motor. The motor models are coupled with a model of link mechanism, and the motion accuracy of a tool center point is simulated. Also, both of positional and angular errors are simulated successfully. As the results of the simulations, it is clarified that the motion accuracy is strongly depends on the servo characteristics and location of the tool center point. In addition, the motion errors are observed as six dimensional errors. It is also discussed that the influence of friction torques on the motion accuracy.

Info:

Periodical:

Key Engineering Materials (Volumes 523-524)

Edited by:

Tojiro Aoyama, Hideki Aoyama, Atsushi Matsubara, Hayato Yoshioka and Libo Zhou

Pages:

762-767

Citation:

R. Sato et al., "Influence of Servo Characteristics on Motion Accuracy of Parallel Kinematic Mechanism", Key Engineering Materials, Vols. 523-524, pp. 762-767, 2012

Online since:

November 2012

Export:

Price:

$38.00

[1] M. Weck and D. Staimer: Parellel Kinematic Machine Tools -Current State and Future Potentials, Annals of the CIRP, 51/2 (2002) 671-683.

DOI: https://doi.org/10.1016/s0007-8506(07)61706-5

[2] Fanuc M-3iA Large Genkotsu (first) Robot data sheet, FANUC Robotics America Corporation (2010).

[3] T. Ropponen and T. Arai: Accuracy Analysis of a Modified Stewart Platform Manipulator, Proceedings of the IEEE International Conference on Robotics and Automation. (1995) 521-525.

DOI: https://doi.org/10.1109/robot.1995.525336

[4] A.J. Patel and K.F. Ehmann: Volumetric Error Analysis of a Stewart Platform-Based Machine Tool, Annals of the CIRP. 46, 1 (1997) 287-290.

DOI: https://doi.org/10.1016/s0007-8506(07)60827-0

[5] H. Zhuang, O. Masory and J. Yan: Kinematic Calibration of a Stewart Platform Using Pose Measurements Obtained by a Single Theodolite, Proceedings of the IEEE International Conference on Intelligent Robots and Systems 95. 2 (1995) 329-334.

DOI: https://doi.org/10.1109/iros.1995.526237

[6] D. Milutinovic, M. Glavonjic and H. Makino: Parallel Kinematic Machines with Serial Link Measuring System, Proceedings of the 30th International Symposium on Robotics. (1999) 621-626.

DOI: https://doi.org/10.1007/978-1-4471-0885-6_12

[7] H. Ota, T. Shibukawa, T. Tooyama and M. Uchiyama: Forward Kinematic Calibration and Gravity Compensation for Parallel-mechanism-based Machine Tools, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics. (2002).

DOI: https://doi.org/10.1243/146441902760029375

[8] S. Ibaraki, T. Okuda, Y. Kakino, M. Nakagawa, T. Matsushita and T. Ando: Compensation of Gravity-Induced Errors on a Hexapod-Type Parallel Kinematic Machine Tool, JSME International Journal, Series C. 47, 1 (2004) 160-167.

DOI: https://doi.org/10.1299/jsmec.47.160

[9] J. -S. Chen, Y. -H. Kuo and W. -Y. Hsu: The Influence of Friction on Contouring Accuracy of a Cartesian Guided Tripod Machine Tool, International Journal of Advanced Manufacturing Technology. 30 (2006) 470-478.

DOI: https://doi.org/10.1007/s00170-005-0088-8

[10] R. Sato and M. Tsutsumi: Dynamic Synchronous Accuracy of Translational and Rotary Axes, International Journal of Mechatronics and Manufacturing Systems. 4, 3-4 (2011) 201-219.

DOI: https://doi.org/10.1504/ijmms.2011.041469

[11] D. Stewart: A Platform with Six Degrees of Freedom, Proceedings of the Institution of Mechanical Engineers, 80, Part 1, 15 (1965-66) 371-386.

[12] R. Sato and M. Tsutsumi: Modeling, and Controller Tuning Techniques for Feed Drive Systems, Proceedings of the ASME Dynamic Systems and Control Division, Part A, DSC-74-1 (2005) 669-679.

DOI: https://doi.org/10.1115/imece2005-80596

[13] R. Sato and M. Tsutsumi: Generation Mechanism of Quadrant Glitches and Compensation for it in Feed Drive Systems of NC Machine Tools, International Journal of Automation Technology, 6, 2 (2012) 154-162.

DOI: https://doi.org/10.20965/ijat.2012.p0154