論文

査読有り 招待有り
2021年3月5日

Forward Kinematics Model for Evaluation of Machining Performance of Robot Type Machine Tool

International Journal of Automation Technology
  • Akio Hayashi
  • ,
  • Hiroto Tanaka
  • ,
  • Masato Ueki
  • ,
  • Hidetaka Yamaoka
  • ,
  • Nobuaki Fujiki
  • ,
  • Yoshitaka Morimoto

15
2
開始ページ
215
終了ページ
223
記述言語
掲載種別
研究論文(学術雑誌)
DOI
10.20965/ijat.2021.p0215
出版者・発行元
Fuji Technology Press Ltd.

Robot-type machine tools are characterized by the ability to change the tool posture and machine itself with a wider motion range than conventional machine tools. The motion of the robot machine tool is realized by simultaneous multi-axis control of link mechanisms. However, when the robot machine tool performs a general milling process, some problems that affect the machining accuracy occur. Moreover, it is difficult to identify the motion errors of each axis, which influence machining accuracy. Thus, it is difficult to adjust the servo gain and alignment error. In addition, the machining performance is unidentified because of the rigidity differences when the posture changes. In this study, the focus was on robot-type machine tools consisting of a serial and a parallel link mechanism. A geometric model is described, and the forward kinematics model is derived based on the geometric model. Machining tests were then carried out to evaluate the machining accuracy by measuring the machined surfaces and the simulated motion of the tool posture based on the proposed forward kinematics model to identify the mechanism that affects the machined surface roughness and surface waviness. As a result, it was shown that the proposed model can separate and reproduce the behavior of each axis of the machine. Finally, it was clarified that the behavior of the second axis has a great influence on the tool posture and machined surface.

リンク情報
DOI
https://doi.org/10.20965/ijat.2021.p0215
URL
https://www.fujipress.jp/main/wp-content/themes/Fujipress/phyosetsu.php?ppno=IJATE001500020009
ID情報
  • DOI : 10.20965/ijat.2021.p0215
  • ISSN : 1881-7629
  • eISSN : 1883-8022

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