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The 3rd generation of an actuator-sensor-unit for tripod structures

Die 3. Generation der Aktor-Sensor-Einheit zur Torsionskompensation
: Wittstock, V.; Illgen, A.; Neugebauer, Reimund; Kranz, B.; Naumann, G.

Neugebauer, Reimund ; Fraunhofer-Institut für Werkzeugmaschinen und Umformtechnik -IWU-, Chemnitz:
Parallel kinematic machines in research and practice : The 5th Chemnitz Parallel Kinematics Seminar, PKS 2006, April 25 - 26, 2006. Proceedings
Zwickau: Verlag Wissenschaftliche Scripten, 2006 (Berichte aus dem IWU 33)
ISBN: 3-937524-40-1
Chemnitz Parallel Kinematics Seminar (PKS) <5, 2006, Chemnitz>
Fraunhofer IWU ()
machine tool; parallel kinematic; piezo actuator; electromechanical modeling; design factor; Werkzeugmaschine; Parallelkinematik; Piezo-Aktoren; elektromechanische Modellierung; Gestaltungsfaktor

One drawback of x,y,z-tripod structures is the torsional load in the three struts of the kinematic that causes deformations and leads to bad dynamic behavior. The actuator-sensor-units, which are located between the end effector and the struts, can compensate these deformations. After two stages of prototypes the 3rd design will be presented. The actuator-sensor-unit is based on piezo stack actuators. The piezo actuators are arranged in a differential setup that guarantees, independently from the disturbance load direction a reversal operation mode with the same performance. Using an electromechanical analogy the authors were able to integrate the piezo actuators in mechanical models and to calculate the component parameters: the free twisted angle and the blocking torsional moment. The mechanical model is characterized by introducing several coefficients.