Dynamic and Compliant Characteristics of A Cartesian-Guided Tripod Machine  

Oleh:

Jeng-Shyong Chen ; Wei-Yao, Hsu

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: Journal of Manufacturing Science and Engineering vol. 128 no. 2 (Mei 2006), page 494-502.
Topik: MACHINE; dynamic; compliant characteristics; cartesian - guided; tripod machine

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: JJ93.8 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

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Isi artikel

This paper is focused on the dynamic and compliant characteristics of a three - axis parallel kinematic machine called a Cartesian - guided tripod (CGT), which has a passive leg locking the platform three rotational degrees of freedom. Because no constraint mechanism is perfect with infinite rigidity, a compliance model has been developed to determine the maximum amplitude of the passive-leg parasitic motions using given loads. System compliance, dynamic characteristics, vibration modes, and servo - contouring errors of the CGT driving system have also been evaluated under high - speed machining conditions. The nonlinear dynamic effects, such as inertia and gravity, can be controlled within acceptable accuracy using the high - gain servo - feedback control techniques. The CGT dominant flexible mode occurs on the horizontal platform - leg vibration. The platform - leg flexible mode can produce significant jerk - induced mechanical vibration on the platform when a sudden velocity change is commanded. Look - ahead Cartesian - based path acceleration and deceleration control was found to be an efficient tool to reduce the jerk-induced mechanical vibration, although the CGT was drive controlled at the joint level. It was found that at high acceleration application, such as high - speed mold and die machining, the elastic elongation of the driving leg caused by the high acceleration force became the dominant contouring error sources.

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