Product-of-exponential formulas for precision enhancement of five-axis machine tools via geometric error modeling and compensation

被引：53

作者：

Fu, Guoqiang ^{[1
]}

Fu, Jianzhong ^{[1
]}

Shen, Hongyao ^{[1
]}

Xu, Yuetong ^{[1
]}

Jin, Yu'an ^{[1
]}

机构：

[1] Zhejiang Univ, Dept Mech Engn, State Key Lab Fluid Power Transmiss & Control, Hangzhou 310027, Zhejiang, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY | 2015年 / 81卷 / 1-4期

基金：

中国国家自然科学基金;

关键词：

Geometric error; Position of rotary axes; Squareness errors; POE formula; Jacobian; Compensation; ACCURACY ENHANCEMENT; CNC MACHINES; IDENTIFICATION; CALIBRATION; PREDICTION;

D O I：

10.1007/s00170-015-7035-0

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes the precision enhancement of five-axis machine tools using product-of-exponential (POE) formulas through geometric error modeling and compensation. Firstly, two issues of geometric error Denavit-Hartenberg (D-H) models for five-axis machine tools are discussed for further improvement: models of squareness errors and position of rotary axes. Three D-H models of squareness errors and three expressions of position of rotary axes are represented and analyzed. Secondly, POE formulas are established to solve the two problems and to realize the modeling and compensation. The rotation twists and rotation POE formulas of rotary axes are established with the help of the clear geometric meaning of twists to describe their positions and motions. Then, corresponding POE formulas of squareness errors are established by analyzing their geometric definition. All motion POE formulas, rotation POE formulas, and error POE formulas are multiplied in certain order to obtain the final geometric error POE formula of five-axis machine tools. In addition, Jacobian of twists is calculated easily and reasonably with the twists of each axis for the geometric error compensation. Thirdly, experiments are conducted on one SmartCNC500 five-axis machine tool in order to verify the effectiveness of error POE formula and corresponding compensation.

引用

页码：289 / 305

页数：17

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