IJAT Vol.15 No.2 pp. 215-223
doi: 10.20965/ijat.2021.p0215


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

Akio Hayashi*,†, Hiroto Tanaka*, Masato Ueki**, Hidetaka Yamaoka*, Nobuaki Fujiki*, and Yoshitaka Morimoto*

*Kanazawa Institute of Technology
7-1 Ohgigaoka, Nonoichi, Ishikawa 924-8501, Japan

Corresponding author

**Sumitomo Wiring Systems, Ltd., Yokkaichi, Japan

August 31, 2020
December 1, 2020
March 5, 2021
robot-type machine tools, parallel link mechanism, forward kinematics model, positioning accuracy, machining performance

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.

Cite this article as:
A. Hayashi, H. Tanaka, M. Ueki, H. Yamaoka, N. Fujiki, and Y. Morimoto, “Forward Kinematics Model for Evaluation of Machining Performance of Robot Type Machine Tool,” Int. J. Automation Technol., Vol.15 No.2, pp. 215-223, 2021.
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Last updated on Jun. 19, 2024