Skip to main content

Multipurpose and cross-sectorial modernisation of manufacturing processes through parallel kinematics (MACH 21)

Objective

The target of the project is to solve the needs and problems of the factories in a recent future and the ways that the manufacturing processes will be aimed by using the emergent technology based on the principles of the parallel kinematics. The project will get a breakthrough in the implementation of parallel kinematics in industry. MACH21 will undertake the whole scope of actual constrains to extend the use of such manufacturing conception and to act as the snow-ball effect through the partnership. The actual limits will be overcome by the benefits of such systems: simple, flexible, low-cost, light weight, cross-sectoral application, minimum use of resources, itself and during operation. This way, the project facilitates the development, manufacturing and use of parallel kinematics machines.
-Optimized joints for a wide range of processes with different characteristics and problematic:
-3 rotational degree of freedom ball joint with smaller dimensions;
-Lightweight / cheap joints both for 2 or 3 degrees of freedom;
-Ball joint (3 rotational degrees of freedom) with plain bearings;
-Improved in behaviour telescopic struts and drives:
-More accurate and compact telescopic strut with integrated measuring system;
-Hollow-shaft ball screw drive for telescopic struts;
-Linear-direct drive actuated strut;
-Test bed to characterize the static, thermal and dynamic performance of the most critical components of PKMs, namely, joints and struts;
-Sensor arrangements for direct and indirect measurement of the TCP:
-Non-contact vision-based direct TCP-measuring sensor-arrangement;
-Method to use sensor redundancy (more sensors than machine degrees of freedom) to enhance PKM accuracy;
-Direct forceless TCP-measuring sensor-arrangements;
-Strategies for the advisable specific multi-axis control of PKMs;
-Software control technique to use actuation redundancy (more drives than degrees of freedom of the mechanism) to overcome PKM singularities.

Method for a priori analysis of the PKMs dynamic behaviour based on multi-body-dynamics-simulations and flexibility information of machine parts from FE-calculations:
-Specific PKM designs and configurations for different processes for achieving big tilting angles of the moving platform with acceptable mechanical performance of the machine;
-Specific PKM designs to linearize the force transmission ratio from the joint space to the tool Cartesian space;
-Method for analysis of the PKMs dynamic behaviour with multi-body models coupled with exact models of the drive controllers and the NC (closed-loop simulation);
-Calibration processes and strategies to improve the static accuracy of PKMs;
-Specific PKM designs and configurations for tackling the following processes of the industrial partners in the Consortium: horizontal and vertical milling in 3 and 5 axes (automotive, aeronautic and mould and die sectors); fibers weft laying (textile sector); handling of parts (automotive sector); deburring of cast iron parts (general purpose machining sector); assembly of aeronautical skins in skeletal structures of ribs and spars (aeronautic sector);
-Error compensation tool to describe and compensate all errors non detected by an analytical model-based calibration;
-Software programs for aiding the designers to evaluate the capability of a particular PKM architecture in a preliminary conceptual design stage;
-Parallel kinematics technology demonstrator prototypes for the following industrial processes and sectors;
-Heavy parts handling prototype (automotive sector)Ø 5 axes horizontal milling prototype (aeronautic sector) 5 axes vertical milling prototype (mould and die sector);
-"Heavy Tow" fibers layer prototype (textile sector);
-Thin panels assembly in skeletal structures of ribs and spars virtual prototype (aeronautic sector).

Funding Scheme

CSC - Cost-sharing contracts

Coordinator

FATRONIK FUNDACION
Address
Polígono Industrial Ibaitarte 1
20870 Elgoibar
Spain

Participants (9)

AACHEN UNIVERSITY OF TECHNOLOGY
Germany
Address
Steinbachstrasse 53B
52074 Aachen
ARJAL - INDUSTRIAS METALURGICAS
Portugal
Address
Estrada Nacional N°4
7080 Vendas Novas
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE
France
Address
161,Rue Ada 161
34392 Montpellier
COMAU SPA
Italy
Address
Via Rivalta 30
10095 Grugliasco
GAMESA PRODUCCIONES AERONAUTICAS
Spain
Address
Leonardo Da Vinci , 13 Miçano Mayor - Alava
01510 Betoloza
INA WAELZLAGER SCHAEFFLER OHG
Germany
Address
Industriestrasse 1-3
91074 Herzogenaurach
INDUSTRIAS ANAYAK SA
Spain
Address
34,Pol. Industrial Itziar. Apartado 34
20829 Itziar
KARL MAYER MALINO TEXTILMASCHINENFABRIK GMBH
Germany
Address
Mauersbergstrasse 2
09007 Chemnitz
UNIVERSITAET STUTTGART
Germany
Address
36,Seidenstra¯e 36
70174 Stuttgart