Physics-based mechatronics modeling and application of an industrial-grade parallel tool head

Abstract

Abstract By taking an industrial-grade parallel tool head used for aviation manufacturing as an object of study, this paper investigates the physics-based mechatronics modeling, and some applications are also given. First, the mechatronics modeling framework is described based on the physical process. Then, the analyses of kinematics, dynamics and control system are performed to complete the mechatronics modeling. A typical reciprocating feed motion experiment is further designed on the prototype to identify the friction torque of each driving shaft. Next, some verifications are carried out through comparing the simulations with experiments, and the results show that both tracking error and driving torque are consistent well with actual values, which validate the effectiveness of the mechatronics modeling. Finally, an application is further given based on the mechatronics modeling to predict and compensate the tracking performance. The main results of the paper can provide an effective tool for engineers and technicians to improve analysis and design efficiency, which is meaningful in industry.