Compliant Joints with Remote Centre of Compliance for the Improvement of the Motion Accuracy of a Gantry Stage
| 1 | Faculty of Mechanical Science and Engineering, Institute of Mechatronic Engineering, Chair of Machine Tools Development and Adaptive Controls, Technische Universität Dresden, Germany |
| 2 | Fraunhofer Institute for Machine Tools and Forming Technology, Fraunhofer IWU, Germany |
CORRESPONDING AUTHOR
Pöhlmann Patrick
Faculty of Mechanical Science and Engineering, Institute of Mechatronic Engineering, Chair of Machine Tools Development and Adaptive Controls, Technische Universität Dresden, Dresden, Germany
Faculty of Mechanical Science and Engineering, Institute of Mechatronic Engineering, Chair of Machine Tools Development and Adaptive Controls, Technische Universität Dresden, Dresden, Germany
Submission date: 2022-02-18
Final revision date: 2022-05-05
Acceptance date: 2022-05-09
Online publication date: 2022-05-16
Publication date: 2022-06-28
Journal of Machine Engineering 2022;22(2):68–79
KEYWORDS
TOPICS
ABSTRACT
Gantry stages, which consist of two parallel acting servo drives, are commonly used in machine tools. One drawback of this concept is the crosstalk between both drives. This can lead to a limited bandwidth of the position control or to high reaction forces. One way to overcome these issues is the usage of joints to create an additional degree of freedom. One benefit of compliant joints is the variability to adjust the position of each joint’s centre of compliance to change the transfer matrix between the motion of the drives and the tool centre point. This paper addresses the placement of the joint’s centre of compliance in order to improve motion accuracy. The characteristics of the joints and their effect on the behaviour of the gantry stage are compared using analytic investigations as well as experimental results.
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