Positioning Control With Force-Based Sideslip Correction
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Solution Overview
Problem
Existing methods for controlling positioning control apparatuses during machining are inaccurate due to unknown rigidity values, leading to positional displacement of the machining tool, which affects the accuracy of the machining process.
Innovation Solution
A method that derives a relational expression defining the sideslip amount of the machining tool in relation to the pressing force before machining, using finite element method analysis or actual force sensor measurements, to correct the position command value and prevent positional displacement during machining.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a rigidity value is used to calculate deflection amount, then the deflection can be corrected, but the accuracy is reduced because the rigidity value is unknown and varies by type and individual
Solution Approach 1:
The patent changes the parameter used for deflection correction from a fixed rigidity value to a dynamic relational expression that correlates sideslip amount with pressing force. This relational expression is derived through finite element method analysis, allowing accurate deflection correction without relying on unknown rigidity values that vary by apparatus type and individual differences.
2Manufacturing precision
If pressing force is applied to prevent positional displacement, then machining accuracy is improved, but deflection of the positioning control apparatus occurs due to reaction force
Solution Approach 1:
The patent employs feedback by using a force sensor to detect the actual pressing force during machining, then calculating the sideslip amount based on a pre-derived relational expression between pressing force and sideslip. The position command value is corrected in real-time based on this calculated sideslip amount, creating a closed-loop system that compensates for deflection while maintaining pressing force.
3Manufacturing precision
If conventional deflection correction methods are used, then some correction is achieved, but the calculation complexity increases and accuracy is limited by unknown rigidity values
Solution Approach 1:
The patent performs preliminary action by deriving the relational expression between pressing force and sideslip amount through finite element method analysis before actual machining begins. This pre-calculated relational expression simplifies the machining process, as only force detection and straightforward calculation are needed during operation, rather than complex real-time rigidity determination.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach allows for highly accurate machining by calculating and correcting for sideslip amounts in real-time, reducing calculation complexity and improving accuracy by considering the deflection of the workpiece, thus preventing positional displacement and maintaining precision.
Implementation Method 1
detecting the pressing force during the machining by a force sensor
Implementation Method 2
the machining tool attached to a tip end of a positioning control apparatus is pressed before the machining against the workpiece by force (hereinafter may be referred to as "pressing force") that is equal to or more than the machining reaction force
Implementation Method 3
deflection of the positioning control apparatus is caused by reaction force of the pressing force
Data Source
AI summary
A method of controlling a positioning control apparatus includes the steps of: deriving a predetermined relational expression in advance; detecting the pressing force during machining by a force sensor; calculating the sideslip amount corresponding to the pressing force detected by the force sensor, in accordance with the predetermined relational expression at any time; correcting a position command value of an arm tip of the positioning control apparatus based on the calculated sideslip amount; and machining the workpiece while moving the arm tip of the positioning control apparatus in accordance with the corrected position command value.