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Accuracy analysis and design of A3 parallel spindle head

  • Mechanism and Robotics
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Abstract

As functional components of machine tools, parallel mechanisms are widely used in high efficiency machining of aviation components, and accuracy is one of the critical technical indexes. Lots of researchers have focused on the accuracy problem of parallel mechanisms, but in terms of controlling the errors and improving the accuracy in the stage of design and manufacturing, further efforts are required. Aiming at the accuracy design of a 3-DOF parallel spindle head(A3 head), its error model, sensitivity analysis and tolerance allocation are investigated. Based on the inverse kinematic analysis, the error model of A3 head is established by using the first-order perturbation theory and vector chain method. According to the mapping property of motion and constraint Jacobian matrix, the compensatable and uncompensatable error sources which affect the accuracy in the end-effector are separated. Furthermore, sensitivity analysis is performed on the uncompensatable error sources. The sensitivity probabilistic model is established and the global sensitivity index is proposed to analyze the influence of the uncompensatable error sources on the accuracy in the end-effector of the mechanism. The results show that orientation error sources have bigger effect on the accuracy in the end-effector. Based upon the sensitivity analysis results, the tolerance design is converted into the issue of nonlinearly constrained optimization with the manufacturing cost minimum being the optimization objective. By utilizing the genetic algorithm, the allocation of the tolerances on each component is finally determined. According to the tolerance allocation results, the tolerance ranges of ten kinds of geometric error sources are obtained. These research achievements can provide fundamental guidelines for component manufacturing and assembly of this kind of parallel mechanisms.

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Tianjin University, Tianjin, 300072, China

    Yanbing Ni, Biao Zhang & Yuan Zhang

  2. China Faw Group Corporation R&D Center, Changchun, 130000, China

    Yupeng Sun

Authors
  1. Yanbing Ni
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  2. Biao Zhang
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  3. Yupeng Sun
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  4. Yuan Zhang
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Corresponding author

Correspondence to Yanbing Ni.

Additional information

Supported by National Natural Science Foundation of China(Grant No. 51575385)

Biographical notes

NI Yanbing, born in 1964, is currently an associate professor at Tianjin University, China. He received his PhD degree at Tianjin University, China, in 2000. His research interests include parallel robotics and CNC equipment.

ZHANG Biao, born in 1991, is currently a master candidate at School of Mechanical Engineering, Tianjin University, China. His research interests include accuracy design of parallel mechanisms and error compensation of machine tools.

SUN Yupeng, born in 1989, is currently an engineer at China Faw Group Corporation R&D Center. He received his master degree at School of Mechanical Engineering, Tianjin University, China, in 2015. His research interests include mechanism design and parallel robots.

ZHANG Yuan, born in 1992, is currently a master candidate at School of Mechanical Engineering, Tianjin University, China. His research interests include kinematic calibration of parallel mechanisms and robotics.

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Ni, Y., Zhang, B., Sun, Y. et al. Accuracy analysis and design of A3 parallel spindle head. Chin. J. Mech. Eng. 29, 239–249 (2016). https://doi.org/10.3901/CJME.2015.1210.144

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  • DOI: https://doi.org/10.3901/CJME.2015.1210.144

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