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Related Concept Videos

Mechanical Systems01:22

Mechanical Systems

339
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
339

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Extended PKM Fixturing System for Micro-Positioning and Vibration Rejection in Machining Application.

Francesco Aggogeri1, Nicola Pellegrini1, Franco Luis Tagliani1

  • 1Department of Mechanical and Industrial Engineering, University of Brescia, Via Branze, 38, 25123 Brescia, Italy.

Sensors (Basel, Switzerland)
|November 27, 2021
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Summary
This summary is machine-generated.

This study introduces a mechatronic device for precise workpiece micro-positioning and disturbance rejection. The novel parallel kinematic machine (PKM) fixturing platform enhances machining accuracy and stability.

Keywords:
flexure-based mechanismparallel kinematic machinespiezoelectric actuatorset-point followingvibration rejection

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Area of Science:

  • Mechatronics
  • Robotics
  • Precision Engineering

Background:

  • Machining operations often suffer from disturbances affecting workpiece positioning accuracy.
  • Existing fixturing platforms may exhibit undesirable coupling effects impacting performance.
  • Piezo-actuated mechanisms offer high precision but require robust control strategies.

Purpose of the Study:

  • To develop and validate a mechatronic device for precise micro-positioning and disturbance rejection in machining.
  • To propose a decoupling method for a 3-Degrees-of-Freedom (DoF) flexure-based piezo-actuated parallel kinematic machine (PKM) fixturing platform.
  • To enhance control strategies for improved set-point following and external disturbance containment.

Main Methods:

  • Modeling and analysis of the 3-DoF PKM platform's kinematics and dynamics.
  • Development of a bump-less switching controller and a fine-tuning procedure for parameter uncertainty estimation and disturbance rejection.
  • Implementation of gain scheduling based on a standard ISA form for piezo-actuator controllers to ensure stability.
  • Conducting simulations and experimental comparisons, including sensitivity analysis.

Main Results:

  • The developed architecture achieves a steady-state error below 1.2 µm.
  • Demonstrated vibration reduction of 96% at 1130 Hz.
  • Maximum resolving time of 6.60 ms achieved.
  • Effective disturbance rejection across an extended broadband frequency range.

Conclusions:

  • The proposed mechatronic device and control strategy significantly improve workpiece micro-positioning accuracy.
  • The decoupling method effectively mitigates coupling effects in the PKM fixturing platform.
  • The system offers robust performance in terms of tracking, disturbance rejection, and stability for precision machining applications.