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| 研究生： |
唐萬宜 Tang, Wan-Yi |
|---|---|
| 論文名稱： |
直接姿態回授三軸工具機研發 Development of 3-Axis Machine Tool with Direct Pose Feedback |
| 指導教授： |
雷衛台
Lei, Wei-Tai |
| 口試委員: |
徐永源
Hsu, Yung-Yuan 傅建中 Fu, Chien-Chung |
| 學位類別： |
碩士 Master |
| 系所名稱： |
工學院 - 動力機械工程學系 Department of Power Mechanical Engineering |
| 論文出版年： | 2018 |
| 畢業學年度： | 107 |
| 語文別： | 中文 |
| 論文頁數： | 80 |
| 中文關鍵詞： | 工具機 、直接姿態回授 、六維運動量測裝置 、刀具指向誤差 、直接回授 、熱致動器 |
| 外文關鍵詞： | Machine tool, Direct pose feedback, MMD, Tool orientation error, Direct feedback, Thermal actuator |
| 相關次數： | 點閱：2 下載：0 |
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本研究以直接姿態回授運動控制有效消除三軸工具機之線性誤差及刀具指向熱誤差；為達成直接姿態回授運動控制，以新設計之倒掛型六維運動量測裝置為回授裝置，並且於工具機安裝全新設計之熱致動器，達到補償三軸工具機刀具指向熱誤差之效果。
倒掛型六維運動量測裝置具有史都華平台機構。為了提升量測精度，本研究於設計過程中對各部件做結構分析以降低受力變形，也為各部件選用低熱膨脹係數之材料以減少熱變形。另外，針對可伸縮量測桿施以小線段初始化；針對安裝不動板之龍門架造成之熱誤差，則找出其值與參考桿讀值變化之對應關係，在量測軟體中即時補償。
本研究以雷射干涉儀為檢驗基準，驗證倒掛型六維量測運動裝置之量測精度，實驗結果顯示，其量測精度在X方向為5.0 μm，在Y方向為5.2 μm，在Z方向為2.8 μm。進一步的，也檢驗直接姿態回授三軸工具機之定位精度，實驗結果顯示，其定位精度相較於以旋轉編碼器進行間接位置回授之工具機有極佳之改善，X軸之定位精度由5.6 μm進步為4.2 μm，Y軸由39.9 μm大幅改善為3.4 μm，Z軸由25.1 μm有效進步為3.4 μm。
熱致動器藉著補償熱源使主軸支撐座內部溫度場達到避免刀具指向誤差之理想狀態，本研究找出補償熱源之最佳安裝位置、形狀及功率。實驗驗證，此熱致動器可大幅改善刀具指向熱誤差，β方向由8 arcsec有效控制至-0.70 arcsec至0.54 arcsec之間，α方向則由-1.13 arcsec至0.75 arcsec小幅擴大為-1.60 arcsec至0.43 arcsec。
This research effectively decrease the translational error and thermal error of tool orientation in 3-axis machine tool by using direct pose feedback control, which is achieved by using a newly designed Inverted-type Six-Degree Motion Measurement Device (MMD) as feedback device; moreover, a newly designed thermal actuator is equipped on the machine tool to compensate the thermal error of tool orientation.
An Inverted-type MMD is constructed with the mechanism of Stewart Platform. The research conducted structural analysis among parts to decrease force induced distortion and chose materials with low thermal expansion coefficient to avoid thermal distortion. On the other hand, this research applied small segment initialization on the measuring ball bars; moreover, to deal with the error due to thermal distortion of the gantry, where the stationary plate is mounted, a model describing the relation between this distortion and the reading value of reference ball bars was implemented in the measurement software for online compensation.
The research used laser interferometer as the standard to verify the measurement accuracy of Inverted-type MMD. As the experiment shows, the position measuring accuracy of it is 5.0 μm in X direction, 5.2 μm in Y direction and 2.8 μm in Z direction. Moreover, the positioning accuracy of the machine tool using direct pose feedback control has been examined. As the result shows, the positioning accuracy is notably improved in comparison with using rotary encoder as feedback unit, it is improved from 5.6 μm to 4.2 μm in X direction, from 39.9 μm to 3.4 μm in Y direction and from 25.1 μm to 3.4 μm in Z direction.
The thermal actuator sets the temperature field in the spindle support part into an ideal status to avoid tool orientation error with the aid of compensating heat sources. The research found optimal settings for the compensating heat sources. As the result of the verification experiment shows, the error is notably decreased, in β direction it’s decreased from 8 arcsec to the range between -0.70 arcsec and 0.54 arcsec, in α direction it’s slightly increased from the range between -1.13 arcsec and 0.75 arcsec to the range between -1.60 arcsec to 0.43 arcsec.
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