Industrial robots are integral to modern manufacturing systems,enabling high precision,high throughput,and flexibility.However,errors in accuracy and repeatability,which arise from a variety of sources such as mechani...Industrial robots are integral to modern manufacturing systems,enabling high precision,high throughput,and flexibility.However,errors in accuracy and repeatability,which arise from a variety of sources such as mechanical wear,calibration issues,and environmental factors,can significantly impact the performance of industrial robots.This paper aims to explore the theoretical modeling of errors in industrial robot systems and propose compensation strategies to enhance their accuracy and repeatability.Key factors contributing to errors,such as kinematic,dynamic,and environmental influences,are discussed in detail.Additionally,the paper explores various compensation techniques,including geometric error compensation,dynamic compensation,and adaptive control approaches.Through the integration of error modeling and compensation methods,industrial robots can achieve improved performance,ensuring higher operational efficiency and product quality.The paper concludes by highlighting the challenges and future research directions for improving the accuracy and repeatability of industrial robots in practical applications.展开更多
Thermal errors in CNC machine tools,particularly those involving the spindle,significantly affect machining accuracy and performance.These errors,caused by temperature fluctuations in the spindle and surrounding compo...Thermal errors in CNC machine tools,particularly those involving the spindle,significantly affect machining accuracy and performance.These errors,caused by temperature fluctuations in the spindle and surrounding components,result in dimensional deviations that can lead to poor part quality and reduced precision in high-speed manufacturing processes.This paper explores thermal error modeling and compensation methods for the spindle of five-axis CNC machine tools.A detailed analysis of the heat generation,transfer mechanisms,and finite element analysis(FEA)is presented to develop accurate thermal error models.Compensation techniques,such as model-based methods,sensor-based methods,real-time compensation algorithms,and hybrid approaches,are critically reviewed.This study also discusses the challenges in real-time compensation and the integration of thermal error compensation with machine tool control systems.The objective is to provide a comprehensive understanding of thermal error phenomena and their compensation strategies,ultimately contributing to the enhancement of machining accuracy in advanced manufacturing applications.展开更多
Six-axis numerical control spiral bevel gear grinder was taken as the object, multi-body system theory and Denavit-Hartenberg homogeneous transformed matrix （HTM） were utilized to establish the grinder synthesis err...Six-axis numerical control spiral bevel gear grinder was taken as the object, multi-body system theory and Denavit-Hartenberg homogeneous transformed matrix （HTM） were utilized to establish the grinder synthesis error model, and the validity of model was confirmed by the experiment. Additionally, in grinding wheel tool point coordinate system, the errors of six degrees of freedom were simulated when the grinding wheel revolving around C-axis, moving along X-axis and Y-axis. The influence of these six errors on teeth space, helix angle, pitch, teeth profile was discussed. The simulation results show that the angle error is in the range from -0.148 4 tad to -0.241 9 rad when grinding wheel moving along X, Y-axis; the translation error is in the range from 0.866 0 μm to 3.605 3μm when grinding wheel moving along X-axis. These angle and translation errors have a great influence on the helix angle, pitch, teeth thickness and tooth socket.展开更多
This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However,...This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model. Model errors between the virtual and real environment exist inevitably. The existing way to deal with the problem is by means of either model matching or robot compliance control. As distinct from the existing methods, this article tries to combine m...展开更多
By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orienta- tion relationship matrix between the moving platform and the base by means of Denavit-Hartenberg （...By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orienta- tion relationship matrix between the moving platform and the base by means of Denavit-Hartenberg （D-H） transformation matrix. The error mapping model is derived from original error to the error of the platform by using matrix differential method. This model contains all geometric original errors of the robot. The nonlinear implicit function relation between po- sition and orientation error of the platform and the original geometric errors is simplified as a linear explicit function rela- tion. The results provide a basis for further studying error analysis and error compensation.展开更多
The previous study on modeling of the tilt rotor aircraft used to put a premium on the complicated aerodynamic computation, and the research on the motion equations is often constrained to frequently use the oversimpl...The previous study on modeling of the tilt rotor aircraft used to put a premium on the complicated aerodynamic computation, and the research on the motion equations is often constrained to frequently use the oversimplified 6-degree of freedom （DOF） rigid body equations. However, the transfiguration of aircraft during transition stage, is complicated due to the aerodynamic interference and the change of center of gravity （CG）. Moreover, the gyroscopic moment caused by tilting the high-speed revolving rotors seriously interferes with the aircraft attitude. The above-cited 6-DOF single rigid body equations do not take the inertia coupling effects into account during transition. For this sake, the article, reckoning the body, the nacelles and the rotors to be independent entities, establishes a realistic model in the form of multi-body motion equations. First, by applying Newton＇s laws and angular momentum theorem to a mass of elements of the aircraft, the multi-body motion equations in inertial flame as well as in body frame are obtained by integrating over all elements. As the equations are of implicit nonlinear differential type, the consistent initial value problem should be solved. Then, a numerical simulation of the differential equations is conducted by means of the Runge-Kutta-Felhberg integral algorithm. The modeling and the simulation algorithm are verified against the data of XV-15 as an example. The model can be used in the area of flight dynamics, flight control and flight safety of tilt rotor air- craft.展开更多
A systematic geometric model has been presented for calibration of a newly designed 5-axis turbine blade grinding machine. This machine is designed to serve a specific purpose to attain high accuracy and high efficien...A systematic geometric model has been presented for calibration of a newly designed 5-axis turbine blade grinding machine. This machine is designed to serve a specific purpose to attain high accuracy and high efficiency grinding of turbine blades by eliminating the hand grinding process. Although its topology is RPPPR （P： prismatic; R： rotary）, its design is quite distinct from the competitive machine tools. As error quantification is the only way to investigate, maintain and improve its accuracy, calibra- tion is recommended for its performance assessment and acceptance testing. Systematic geometric error modeling technique is implemented and 52 position dependent and position independent errors are identified while considering the machine as five rigid bodies by eliminating the set-up errors of workpiece and cutting tool. 39 of them are found to have influential errors and are accommodated for finding the resultant effect between the cutting tool and the workpiece in workspace volume. Rigid body kinematics techniques and homogenous transformation matrices are used for error synthesis.展开更多
One of the important trends in precision machining is the development ofreal-time error compensation technique. The error compensation for multi-axis CNC machine tools isvery difficult and attractive. The modeling for...One of the important trends in precision machining is the development ofreal-time error compensation technique. The error compensation for multi-axis CNC machine tools isvery difficult and attractive. The modeling for the geometric error of five-axis CNC machine toolsbased on multi-body systems is proposed. And the key technique of the compensation―identifyinggeometric error parameters―is developed. The simulation of cutting workpiece to verify the modelingbased on the multi-body systems is also considered.展开更多
Geometric error,mainly due to imperfect geometry and dimensions of machine components,is one of the major error sources of machine tools.Considering that geometric error has significant effects on the machining qualit...Geometric error,mainly due to imperfect geometry and dimensions of machine components,is one of the major error sources of machine tools.Considering that geometric error has significant effects on the machining quality of manufactured parts,it has been a popular topic for academic and industrial research for many years.A great deal of research work has been carried out since the 1970s for solving the problem and improving the machining accuracy.Researchers have studied how to measure,detect,model,identify,reduce,and compensate the geometric errors.This paper presents a thorough review of the latest research activities and gives an overview of the state of the art in understanding changes in machine tool performance due to geometric errors.Recent advances in measuring the geometrical errors of machine tools are summarized,and different kinds of error identification methods of translational axes and rotation axes are illustrated respectively.Besides,volumetric geometric error modeling,tracing,and compensation techniques for five-axis machine tools are emphatically introduced.Finally,research challenges in order to improve the volumetric accuracy of machine tools are also highlighted.展开更多
Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parall...Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error’s influence on the moving platform’s pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration.展开更多
Aiming at the problem of low machining accu- racy and uncontrollable thermal errors of NC machine tools, spindle thermal error measurement, modeling and compensation of a two turntable five-axis machine tool are resea...Aiming at the problem of low machining accu- racy and uncontrollable thermal errors of NC machine tools, spindle thermal error measurement, modeling and compensation of a two turntable five-axis machine tool are researched. Measurement experiment of heat sources and thermal errors are carried out, and GRA（grey relational analysis） method is introduced into the selection of tem- perature variables used for thermal error modeling. In order to analyze the influence of different heat sources on spindle thermal errors, an ANN （artificial neural network） model is presented, and ABC（artificial bee colony） algorithm is introduced to train the link weights of ANN, a new ABC- NN（Artificial bee colony-based neural network） modeling method is proposed and used in the prediction of spindle thermal errors. In order to test the prediction performance of ABC-NN model, an experiment system is developed, the prediction results of LSR （least squares regression）, ANN and ABC-NN are compared with the measurement results of spindle thermal errors. Experiment results show that the prediction accuracy of ABC-NN model is higher than LSR and ANN, and the residual error is smaller than 3 pm, the new modeling method is feasible. The proposed research provides instruction to compensate thermal errors and improve machining accuracy of NC machine tools.展开更多
Multistation machining process is widely applied in contemporary manufacturing environment. Modeling of variation propagation in multistation machining process is one of the most important research scenarios. Due to t...Multistation machining process is widely applied in contemporary manufacturing environment. Modeling of variation propagation in multistation machining process is one of the most important research scenarios. Due to the existence of multiple variation streams, it is challenging to model and analyze variation propagation in a multi-station system. Current approaches to error modeling for multistation machining process are not explicit enough for error control and ensuring final product quality. In this paper, a mathematic model to depict the part dimensional variation of the complex multistation manufacturing process is formulated. A linear state space dimensional error propagation equation is established through kinematics analysis of the influence of locating parameter variations and locating datum variations on dimensional errors, so the dimensional error accumulation and transformation within the multistation process are quantitatively described. A systematic procedure to build the model is presented, which enhances the way to determine the variation sources in complex machining systems. A simple two-dimensional example is used to illustrate the proposed procedures. Finally, an industrial case of multistation machining part in a manufacturing shop is given to testify the validation and practicability of the method. The proposed analytical model is essential to quality control and improvement for multistation systems in machining quality forecasting and design optimization.展开更多
In the docking process of aeroengine rotor parts,docking accuracy that indicates the gaps between the end faces is strictly required.A key issue is improving docking accuracy using automated docking equipment.In this ...In the docking process of aeroengine rotor parts,docking accuracy that indicates the gaps between the end faces is strictly required.A key issue is improving docking accuracy using automated docking equipment.In this paper,a systematic study is carried out on the error modeling and compensation of a novel six-degrees-of-freedom(6-DOF)docking equipment for aeroengine rotors.First,a new model for indicating the main indexes of docking accuracy is proposed.Then,the error model of a specially designed 6-DOF docking equipment is established based on a modified Denavit Hartenberg method with five parameters.Subsequently,two error compensation methods are proposed.Based on the above models,a docking accuracy simulation algorithm is proposed using the Monte Carlo method.Finally,verification experiments are conducted.The results show that,for the maximum values and standard deviations of the gaps between the rotor end-faces in the actual and target positions and attitudes,i.e.,main indexes that represent docking accuracy,the deviation rates between the simulation and experimental results are less than20%.The modeling methods have referential significance.The decline rates of these values are 50–65%when using the two proposed compensation methods.The compensation methods significantly improve the docking accuracy.展开更多
The thermal induced errors can account for as much as 70% of the dimensional errors on a workpiece. Accurate modeling of errors is an essential part of error compensation. Base on analyzing the existing approaches of ...The thermal induced errors can account for as much as 70% of the dimensional errors on a workpiece. Accurate modeling of errors is an essential part of error compensation. Base on analyzing the existing approaches of the thermal error modeling for machine tools, a new approach of regression orthogonal design is proposed, which combines the statistic theory with machine structures, surrounding condition, engineering judgements, and experience in modeling. A whole computation and analysis procedure is given. Therefore, the model got from this method are more robust and practical than those got from the present method that depends on the modeling data completely. At last more than 100 applications of CNC turning center with only one thermal error model are given. The cutting diameter variation reduces from more than 35 μm to about 12 μm with the orthogonal regression modeling and compensation of thermal error.展开更多
Aiming at the deficiency of the robustness of thermal error compensation models of CNC machine tools, the mechanism of improving the models＇ robustness is studied by regarding the Leaderway-V450 machining center as t...Aiming at the deficiency of the robustness of thermal error compensation models of CNC machine tools, the mechanism of improving the models＇ robustness is studied by regarding the Leaderway-V450 machining center as the object. Through the analysis of actual spindle air cutting experimental data on Leaderway-V450 machine, it is found that the temperature-sensitive points used for modeling is volatility, and this volatility directly leads to large changes on the collinear degree among modeling independent variables. Thus, the forecasting accuracy of multivariate regression model is severely affected, and the forecasting robustness becomes poor too. To overcome this effect, a modeling method of establishing thermal error models by using single temperature variable under the jamming of temperature-sensitive points＇ volatility is put forward. According to the actual data of thermal error measured in different seasons, it is proved that the single temperature variable model can reduce the loss of fore- casting accuracy resulted from the volatility of tempera- ture-sensitive points, especially for the prediction of cross quarter data, the improvement of forecasting accuracy is about 5 μm or more. The purpose that improving the robustness of the thermal error models is realized, which can provide a reference for selecting the modelingindependent variable in the application of thermal error compensation of CNC machine tools.展开更多
The interaction between the heat source location, its intensity, thermal expansion coefficient, the machine system configuration and the running environment creates complex thermal behavior of a machine tool, and also...The interaction between the heat source location, its intensity, thermal expansion coefficient, the machine system configuration and the running environment creates complex thermal behavior of a machine tool, and also makes thermal error prediction difficult. To address this issue, a novel prediction method for machine tool thermal error based on Bayesian networks (BNs) was presented. The method described causal relationships of factors inducing thermal deformation by graph theory and estimated the thermal error by Bayesian statistical techniques. Due to the effective combination of domain knowledge and sampled data, the BN method could adapt to the change of running state of machine, and obtain satisfactory prediction accuracy. Ex- periments on spindle thermal deformation were conducted to evaluate the modeling performance. Experimental results indicate that the BN method performs far better than the least squares (LS) analysis in terms of modeling estimation accuracy.展开更多
As the core component of inertial navigation systems, fiber optic gyroscope (FOG), with technical advantages such as low power consumption, long lifespan, fast startup speed, and flexible structural design, are widely...As the core component of inertial navigation systems, fiber optic gyroscope (FOG), with technical advantages such as low power consumption, long lifespan, fast startup speed, and flexible structural design, are widely used in aerospace, unmanned driving, and other fields. However, due to the temper-ature sensitivity of optical devices, the influence of environmen-tal temperature causes errors in FOG, thereby greatly limiting their output accuracy. This work researches on machine-learn-ing based temperature error compensation techniques for FOG. Specifically, it focuses on compensating for the bias errors gen-erated in the fiber ring due to the Shupe effect. This work pro-poses a composite model based on k-means clustering, sup-port vector regression, and particle swarm optimization algo-rithms. And it significantly reduced redundancy within the sam-ples by adopting the interval sequence sample. Moreover, met-rics such as root mean square error (RMSE), mean absolute error (MAE), bias stability, and Allan variance, are selected to evaluate the model’s performance and compensation effective-ness. This work effectively enhances the consistency between data and models across different temperature ranges and tem-perature gradients, improving the bias stability of the FOG from 0.022 °/h to 0.006 °/h. Compared to the existing methods utiliz-ing a single machine learning model, the proposed method increases the bias stability of the compensated FOG from 57.11% to 71.98%, and enhances the suppression of rate ramp noise coefficient from 2.29% to 14.83%. This work improves the accuracy of FOG after compensation, providing theoretical guid-ance and technical references for sensors error compensation work in other fields.展开更多
Because of various error factors,the detecting errors in the real-time experimental data of the wear depth affect the accuracy of the detecting data.The self-made spherical plain bearing tester was studied,and its tes...Because of various error factors,the detecting errors in the real-time experimental data of the wear depth affect the accuracy of the detecting data.The self-made spherical plain bearing tester was studied,and its testing principle of the wear depth of the spherical plain bearing was introduced.Meanwhile,the error factors affecting the wear-depth detecting precision were analyzed.Then,the comprehensive error model of the wear-depth detecting system of the spherical plain bearing was built by the multi-body system theory(MBS).In addition,the thermal deformation of the wear-depth detecting system caused by varying the environmental temperature was detected.Finally,according to the above experimental parameters,the thermal errors of the related parts of the comprehensive error model were calculated by FEM.The results show that the difference between the simulation value and the experimental value is less than 0.005 mm,and the two values are close.The correctness of the comprehensive error model is verified under the thermal error experimental conditions.展开更多
This research concerns a novel attitude stabilization structure for a ducted-fan aerial robot to work against modeling error and strong external transient disturbance,and it focuses on two main control targets:modelin...This research concerns a novel attitude stabilization structure for a ducted-fan aerial robot to work against modeling error and strong external transient disturbance,and it focuses on two main control targets:modeling error compensation,and the improvement of disturbance resistance along the rolling channel.For the first research objective,we proposed an adaptive nominal controller with the reconfigurable control law design based on the estimation of the modeling error found in the closed-loop.Results of simulations and corresponding flight tests verified that the proposed adaptive control structure is robust against both constant and time-varying modeling error.For the other research objective,a SAC(Stability Augmentation Control)structure was devised based on the CMG(Control Moment Gyroscope)theory in order to provide extra moment which effectively withstands the transient disturbance beyond the CDG(Critical Disturbance Gain).Furthermore,we studied the corresponding controller for the SAC via the SMC(sliding mode control)theory,while the working mechanism and performance of the SAC were verified through a specially devised prototype.展开更多
In order to improve the process precision of an XY laser annealing table, a geometric error modeling, and an identification and compensation method were proposed. Based on multi-body system theory, a geometric error m...In order to improve the process precision of an XY laser annealing table, a geometric error modeling, and an identification and compensation method were proposed. Based on multi-body system theory, a geometric error model for the laser annealing table was established. It supports the identification of 7 geometric errors affecting the annealing accuracy. An original identification method was presented to recognize these geometric errors. Positioning errors of 5 lines in the workspace were measured by a laser interferometer, and the 7 geometric errors were identified by the proposed algorithm. Finally, a software-based error compensation method was adopted, and a compensation mechanism was developed in a postprocessor based on LabVIEW. The identified geometric errors can be compensated by converting ideal NC codes to actual NC codes. A validation experiment has been conducted on the laser annealing table, and the results indicate that positioning errors of two validation lines decreased from ±37 μm and ±33 μm to ±5 μm and ±4.5 μm, respectively. The geometric error modeling, identification and compensation method presented in this work can be straightforwardly extended to any configurations of 2-dimensional worktable.展开更多
文摘Industrial robots are integral to modern manufacturing systems,enabling high precision,high throughput,and flexibility.However,errors in accuracy and repeatability,which arise from a variety of sources such as mechanical wear,calibration issues,and environmental factors,can significantly impact the performance of industrial robots.This paper aims to explore the theoretical modeling of errors in industrial robot systems and propose compensation strategies to enhance their accuracy and repeatability.Key factors contributing to errors,such as kinematic,dynamic,and environmental influences,are discussed in detail.Additionally,the paper explores various compensation techniques,including geometric error compensation,dynamic compensation,and adaptive control approaches.Through the integration of error modeling and compensation methods,industrial robots can achieve improved performance,ensuring higher operational efficiency and product quality.The paper concludes by highlighting the challenges and future research directions for improving the accuracy and repeatability of industrial robots in practical applications.
文摘Thermal errors in CNC machine tools,particularly those involving the spindle,significantly affect machining accuracy and performance.These errors,caused by temperature fluctuations in the spindle and surrounding components,result in dimensional deviations that can lead to poor part quality and reduced precision in high-speed manufacturing processes.This paper explores thermal error modeling and compensation methods for the spindle of five-axis CNC machine tools.A detailed analysis of the heat generation,transfer mechanisms,and finite element analysis(FEA)is presented to develop accurate thermal error models.Compensation techniques,such as model-based methods,sensor-based methods,real-time compensation algorithms,and hybrid approaches,are critically reviewed.This study also discusses the challenges in real-time compensation and the integration of thermal error compensation with machine tool control systems.The objective is to provide a comprehensive understanding of thermal error phenomena and their compensation strategies,ultimately contributing to the enhancement of machining accuracy in advanced manufacturing applications.
基金Project(2005CB724104) supported by the Major State Basic Research Development Program of ChinaProject(1343-77202) supported by the Graduate Students Innovate of Central South University
文摘Six-axis numerical control spiral bevel gear grinder was taken as the object, multi-body system theory and Denavit-Hartenberg homogeneous transformed matrix （HTM） were utilized to establish the grinder synthesis error model, and the validity of model was confirmed by the experiment. Additionally, in grinding wheel tool point coordinate system, the errors of six degrees of freedom were simulated when the grinding wheel revolving around C-axis, moving along X-axis and Y-axis. The influence of these six errors on teeth space, helix angle, pitch, teeth profile was discussed. The simulation results show that the angle error is in the range from -0.148 4 tad to -0.241 9 rad when grinding wheel moving along X, Y-axis; the translation error is in the range from 0.866 0 μm to 3.605 3μm when grinding wheel moving along X-axis. These angle and translation errors have a great influence on the helix angle, pitch, teeth thickness and tooth socket.
基金National Natural Science Foundation of China (60675054)National High-Tech Research and Development Program (2006AA04Z228)"111" Project (B07018)
文摘This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model. Model errors between the virtual and real environment exist inevitably. The existing way to deal with the problem is by means of either model matching or robot compliance control. As distinct from the existing methods, this article tries to combine m...
基金National Natural Science Foundation of China(No.51275486)the Specialized Research Fund for the Doctoral Program of Higher Education(No.20111420110005)
文摘By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orienta- tion relationship matrix between the moving platform and the base by means of Denavit-Hartenberg （D-H） transformation matrix. The error mapping model is derived from original error to the error of the platform by using matrix differential method. This model contains all geometric original errors of the robot. The nonlinear implicit function relation between po- sition and orientation error of the platform and the original geometric errors is simplified as a linear explicit function rela- tion. The results provide a basis for further studying error analysis and error compensation.
基金Graduate Innovation and Practice Foundation of Beijing University of Aeronautics amd Astronautics
文摘The previous study on modeling of the tilt rotor aircraft used to put a premium on the complicated aerodynamic computation, and the research on the motion equations is often constrained to frequently use the oversimplified 6-degree of freedom （DOF） rigid body equations. However, the transfiguration of aircraft during transition stage, is complicated due to the aerodynamic interference and the change of center of gravity （CG）. Moreover, the gyroscopic moment caused by tilting the high-speed revolving rotors seriously interferes with the aircraft attitude. The above-cited 6-DOF single rigid body equations do not take the inertia coupling effects into account during transition. For this sake, the article, reckoning the body, the nacelles and the rotors to be independent entities, establishes a realistic model in the form of multi-body motion equations. First, by applying Newton＇s laws and angular momentum theorem to a mass of elements of the aircraft, the multi-body motion equations in inertial flame as well as in body frame are obtained by integrating over all elements. As the equations are of implicit nonlinear differential type, the consistent initial value problem should be solved. Then, a numerical simulation of the differential equations is conducted by means of the Runge-Kutta-Felhberg integral algorithm. The modeling and the simulation algorithm are verified against the data of XV-15 as an example. The model can be used in the area of flight dynamics, flight control and flight safety of tilt rotor air- craft.
文摘A systematic geometric model has been presented for calibration of a newly designed 5-axis turbine blade grinding machine. This machine is designed to serve a specific purpose to attain high accuracy and high efficiency grinding of turbine blades by eliminating the hand grinding process. Although its topology is RPPPR （P： prismatic; R： rotary）, its design is quite distinct from the competitive machine tools. As error quantification is the only way to investigate, maintain and improve its accuracy, calibra- tion is recommended for its performance assessment and acceptance testing. Systematic geometric error modeling technique is implemented and 52 position dependent and position independent errors are identified while considering the machine as five rigid bodies by eliminating the set-up errors of workpiece and cutting tool. 39 of them are found to have influential errors and are accommodated for finding the resultant effect between the cutting tool and the workpiece in workspace volume. Rigid body kinematics techniques and homogenous transformation matrices are used for error synthesis.
基金This project is supported by National Natural Science Foundation of China (No.E059905019)
文摘One of the important trends in precision machining is the development ofreal-time error compensation technique. The error compensation for multi-axis CNC machine tools isvery difficult and attractive. The modeling for the geometric error of five-axis CNC machine toolsbased on multi-body systems is proposed. And the key technique of the compensation―identifyinggeometric error parameters―is developed. The simulation of cutting workpiece to verify the modelingbased on the multi-body systems is also considered.
基金supported by the National Natural Science Foundation of China(Nos.52005413,52022082)Natural Science Basic Research Plan in Shaanxi Province of China(No.2021JM-054)the Fundamental Research Funds for the Central Universities(No.D5000220135)。
文摘Geometric error,mainly due to imperfect geometry and dimensions of machine components,is one of the major error sources of machine tools.Considering that geometric error has significant effects on the machining quality of manufactured parts,it has been a popular topic for academic and industrial research for many years.A great deal of research work has been carried out since the 1970s for solving the problem and improving the machining accuracy.Researchers have studied how to measure,detect,model,identify,reduce,and compensate the geometric errors.This paper presents a thorough review of the latest research activities and gives an overview of the state of the art in understanding changes in machine tool performance due to geometric errors.Recent advances in measuring the geometrical errors of machine tools are summarized,and different kinds of error identification methods of translational axes and rotation axes are illustrated respectively.Besides,volumetric geometric error modeling,tracing,and compensation techniques for five-axis machine tools are emphatically introduced.Finally,research challenges in order to improve the volumetric accuracy of machine tools are also highlighted.
基金Supported by National Natural Science Foundation of China(Grant No.51305222)National Key Scientific and Technological Program of China(Grant No.2013ZX04001-021)
文摘Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error’s influence on the moving platform’s pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration.
基金Supported by National Natural Science Foundation of China(Grant No.51305244)Shandong Provincal Natural Science Foundation of China(Grant No.ZR2013EEL015)
文摘Aiming at the problem of low machining accu- racy and uncontrollable thermal errors of NC machine tools, spindle thermal error measurement, modeling and compensation of a two turntable five-axis machine tool are researched. Measurement experiment of heat sources and thermal errors are carried out, and GRA（grey relational analysis） method is introduced into the selection of tem- perature variables used for thermal error modeling. In order to analyze the influence of different heat sources on spindle thermal errors, an ANN （artificial neural network） model is presented, and ABC（artificial bee colony） algorithm is introduced to train the link weights of ANN, a new ABC- NN（Artificial bee colony-based neural network） modeling method is proposed and used in the prediction of spindle thermal errors. In order to test the prediction performance of ABC-NN model, an experiment system is developed, the prediction results of LSR （least squares regression）, ANN and ABC-NN are compared with the measurement results of spindle thermal errors. Experiment results show that the prediction accuracy of ABC-NN model is higher than LSR and ANN, and the residual error is smaller than 3 pm, the new modeling method is feasible. The proposed research provides instruction to compensate thermal errors and improve machining accuracy of NC machine tools.
基金supported by National Department Fundamental Research Foundation of China (Grant No. B222090014)National Department Technology Fundatmental Foundaiton of China (Grant No. C172009C001)
文摘Multistation machining process is widely applied in contemporary manufacturing environment. Modeling of variation propagation in multistation machining process is one of the most important research scenarios. Due to the existence of multiple variation streams, it is challenging to model and analyze variation propagation in a multi-station system. Current approaches to error modeling for multistation machining process are not explicit enough for error control and ensuring final product quality. In this paper, a mathematic model to depict the part dimensional variation of the complex multistation manufacturing process is formulated. A linear state space dimensional error propagation equation is established through kinematics analysis of the influence of locating parameter variations and locating datum variations on dimensional errors, so the dimensional error accumulation and transformation within the multistation process are quantitatively described. A systematic procedure to build the model is presented, which enhances the way to determine the variation sources in complex machining systems. A simple two-dimensional example is used to illustrate the proposed procedures. Finally, an industrial case of multistation machining part in a manufacturing shop is given to testify the validation and practicability of the method. The proposed analytical model is essential to quality control and improvement for multistation systems in machining quality forecasting and design optimization.
基金supported by Innovative Research Group Project of the National Natural Science Foundation of China (No. 51621064)
文摘In the docking process of aeroengine rotor parts,docking accuracy that indicates the gaps between the end faces is strictly required.A key issue is improving docking accuracy using automated docking equipment.In this paper,a systematic study is carried out on the error modeling and compensation of a novel six-degrees-of-freedom(6-DOF)docking equipment for aeroengine rotors.First,a new model for indicating the main indexes of docking accuracy is proposed.Then,the error model of a specially designed 6-DOF docking equipment is established based on a modified Denavit Hartenberg method with five parameters.Subsequently,two error compensation methods are proposed.Based on the above models,a docking accuracy simulation algorithm is proposed using the Monte Carlo method.Finally,verification experiments are conducted.The results show that,for the maximum values and standard deviations of the gaps between the rotor end-faces in the actual and target positions and attitudes,i.e.,main indexes that represent docking accuracy,the deviation rates between the simulation and experimental results are less than20%.The modeling methods have referential significance.The decline rates of these values are 50–65%when using the two proposed compensation methods.The compensation methods significantly improve the docking accuracy.
文摘The thermal induced errors can account for as much as 70% of the dimensional errors on a workpiece. Accurate modeling of errors is an essential part of error compensation. Base on analyzing the existing approaches of the thermal error modeling for machine tools, a new approach of regression orthogonal design is proposed, which combines the statistic theory with machine structures, surrounding condition, engineering judgements, and experience in modeling. A whole computation and analysis procedure is given. Therefore, the model got from this method are more robust and practical than those got from the present method that depends on the modeling data completely. At last more than 100 applications of CNC turning center with only one thermal error model are given. The cutting diameter variation reduces from more than 35 μm to about 12 μm with the orthogonal regression modeling and compensation of thermal error.
基金Supported by Key Project of National Natural Science Fund of China(Grant No.51490660/51490661)National Natural Science Foundation of China(Grant No.51175142)
文摘Aiming at the deficiency of the robustness of thermal error compensation models of CNC machine tools, the mechanism of improving the models＇ robustness is studied by regarding the Leaderway-V450 machining center as the object. Through the analysis of actual spindle air cutting experimental data on Leaderway-V450 machine, it is found that the temperature-sensitive points used for modeling is volatility, and this volatility directly leads to large changes on the collinear degree among modeling independent variables. Thus, the forecasting accuracy of multivariate regression model is severely affected, and the forecasting robustness becomes poor too. To overcome this effect, a modeling method of establishing thermal error models by using single temperature variable under the jamming of temperature-sensitive points＇ volatility is put forward. According to the actual data of thermal error measured in different seasons, it is proved that the single temperature variable model can reduce the loss of fore- casting accuracy resulted from the volatility of tempera- ture-sensitive points, especially for the prediction of cross quarter data, the improvement of forecasting accuracy is about 5 μm or more. The purpose that improving the robustness of the thermal error models is realized, which can provide a reference for selecting the modelingindependent variable in the application of thermal error compensation of CNC machine tools.
基金Project supported by National Natural Science Foundation of China(No. 50675199)the Science and Technology Project of Zhejiang Province (No. 2006C11067), China
文摘The interaction between the heat source location, its intensity, thermal expansion coefficient, the machine system configuration and the running environment creates complex thermal behavior of a machine tool, and also makes thermal error prediction difficult. To address this issue, a novel prediction method for machine tool thermal error based on Bayesian networks (BNs) was presented. The method described causal relationships of factors inducing thermal deformation by graph theory and estimated the thermal error by Bayesian statistical techniques. Due to the effective combination of domain knowledge and sampled data, the BN method could adapt to the change of running state of machine, and obtain satisfactory prediction accuracy. Ex- periments on spindle thermal deformation were conducted to evaluate the modeling performance. Experimental results indicate that the BN method performs far better than the least squares (LS) analysis in terms of modeling estimation accuracy.
基金supported by the National Natural Science Foundation of China(62375013).
文摘As the core component of inertial navigation systems, fiber optic gyroscope (FOG), with technical advantages such as low power consumption, long lifespan, fast startup speed, and flexible structural design, are widely used in aerospace, unmanned driving, and other fields. However, due to the temper-ature sensitivity of optical devices, the influence of environmen-tal temperature causes errors in FOG, thereby greatly limiting their output accuracy. This work researches on machine-learn-ing based temperature error compensation techniques for FOG. Specifically, it focuses on compensating for the bias errors gen-erated in the fiber ring due to the Shupe effect. This work pro-poses a composite model based on k-means clustering, sup-port vector regression, and particle swarm optimization algo-rithms. And it significantly reduced redundancy within the sam-ples by adopting the interval sequence sample. Moreover, met-rics such as root mean square error (RMSE), mean absolute error (MAE), bias stability, and Allan variance, are selected to evaluate the model’s performance and compensation effective-ness. This work effectively enhances the consistency between data and models across different temperature ranges and tem-perature gradients, improving the bias stability of the FOG from 0.022 °/h to 0.006 °/h. Compared to the existing methods utiliz-ing a single machine learning model, the proposed method increases the bias stability of the compensated FOG from 57.11% to 71.98%, and enhances the suppression of rate ramp noise coefficient from 2.29% to 14.83%. This work improves the accuracy of FOG after compensation, providing theoretical guid-ance and technical references for sensors error compensation work in other fields.
基金Project(2014E00468R)supported by Technological Innovation Fund of Aviation Industry Corporation of China
文摘Because of various error factors,the detecting errors in the real-time experimental data of the wear depth affect the accuracy of the detecting data.The self-made spherical plain bearing tester was studied,and its testing principle of the wear depth of the spherical plain bearing was introduced.Meanwhile,the error factors affecting the wear-depth detecting precision were analyzed.Then,the comprehensive error model of the wear-depth detecting system of the spherical plain bearing was built by the multi-body system theory(MBS).In addition,the thermal deformation of the wear-depth detecting system caused by varying the environmental temperature was detected.Finally,according to the above experimental parameters,the thermal errors of the related parts of the comprehensive error model were calculated by FEM.The results show that the difference between the simulation value and the experimental value is less than 0.005 mm,and the two values are close.The correctness of the comprehensive error model is verified under the thermal error experimental conditions.
基金co-supported by the National Key Research and Development Program of China(No.2020YFC1512500)the National Natural Science Foundation of Chongqing,China(No.cstc2020jcyj-msxm3857)。
文摘This research concerns a novel attitude stabilization structure for a ducted-fan aerial robot to work against modeling error and strong external transient disturbance,and it focuses on two main control targets:modeling error compensation,and the improvement of disturbance resistance along the rolling channel.For the first research objective,we proposed an adaptive nominal controller with the reconfigurable control law design based on the estimation of the modeling error found in the closed-loop.Results of simulations and corresponding flight tests verified that the proposed adaptive control structure is robust against both constant and time-varying modeling error.For the other research objective,a SAC(Stability Augmentation Control)structure was devised based on the CMG(Control Moment Gyroscope)theory in order to provide extra moment which effectively withstands the transient disturbance beyond the CDG(Critical Disturbance Gain).Furthermore,we studied the corresponding controller for the SAC via the SMC(sliding mode control)theory,while the working mechanism and performance of the SAC were verified through a specially devised prototype.
基金Projects(2012ZX04010-011,2009ZX02037-02) supported by the Key National Science and Technology Project of China
文摘In order to improve the process precision of an XY laser annealing table, a geometric error modeling, and an identification and compensation method were proposed. Based on multi-body system theory, a geometric error model for the laser annealing table was established. It supports the identification of 7 geometric errors affecting the annealing accuracy. An original identification method was presented to recognize these geometric errors. Positioning errors of 5 lines in the workspace were measured by a laser interferometer, and the 7 geometric errors were identified by the proposed algorithm. Finally, a software-based error compensation method was adopted, and a compensation mechanism was developed in a postprocessor based on LabVIEW. The identified geometric errors can be compensated by converting ideal NC codes to actual NC codes. A validation experiment has been conducted on the laser annealing table, and the results indicate that positioning errors of two validation lines decreased from ±37 μm and ±33 μm to ±5 μm and ±4.5 μm, respectively. The geometric error modeling, identification and compensation method presented in this work can be straightforwardly extended to any configurations of 2-dimensional worktable.
