ࡱ> CEB_7 ZbjbjUU [r7|7|Ukllll$ P 4!@V(~~~8!:!:!:!:!:!:!$" $^!l@^!>~~Ds!>>>8~l~8!>8!>z>h hTl ~4 6Ti X  <!0! %.% >Hexapod as a Machine Tool: Visualisation of one Concept Romano Motika Toma Udiljak Kristijan Mihoci Doc. dr .sc. Romano Motika, University of Zagreb FSB, Ivana Lucica 5, Croatia Doc.dr. sc. Toma Udiljak, University of Zagreb FSB, Ivana Lucica 5, Croatia Kristijan Mihoci, dipl. ing. , University of Zagreb FSB, Ivana Lucica 5, Croatia Key words: Hexapod,movement simulation Abstract Cutting with machine tools is a very expensive activity, in which even little progress, achieved in technology, can produce great results. In research of this we have come up with some new concepts, that are promissing in making progress. One of these concepts is a machine tool with parallel kinematic structure (PKS). This paper describes modelling and simulation of a concept, providing a start for a more detailed work on this problem. 1. Introduction Concepts of the Hexapod kinematic structures in the last decade have brought increased interest to this problem, not only in production of high-speed machine tools, but also in industrial robots and mechanic manipulators, which could be used in applied mechanical engineering, medicine and other fields. The first actual use of them took place in the 1960s, when D.Stewart used this mechanism on a flight simulator in the US Army (1(. Today, they are known as Stewart platforms. Hexapod is a manipulator of a parallel kinematic structure, with six degrees of freedom in space, in which the moving platform executes the positioning of the end effector in space. There are also manipulators of parallel kinematic structure with less degrees of freedom in space, which are sometimes favoured in certain applications of Hexapod (2(. High-speed cutting of a mould and a die is a problematic one, due to large mass of a workpiece. Since with classic machine tools this mass requires increased power of drive elements in a system, which also are uneven, inertia in such large mass causes a great (over)load on entire machine construction. Sometimes, moves cannot comply with the needs of a high-speed cutting. A Hexapod, on the other hand, carries a light tool mounted on six struts, which, due to symmetric construction, evenly take and transfer cutting forces. Thanks to this advantage, all Hexapod elements have a high repeatability in construction, which can significantly decrease their price. Earlier use of a Hexapod in cutting processes could not have been justified for several reasons. The biggest objection was a difficult transformation of coordinates, since coordinate systems of Hexapod and workpieces did not match. Control systems, capable of this transformation in real-time, only in the past ten or so years reached a level of profitability in production, which uses machine tools. Problems, in assembling these machine tools, were also significant. A great deal of disproportion between the entire machine volume and the usable workspace was another reason that putt-off the application and use of Hexapod. However, with a slow neutralization of the main problem, eventually Hexapod started its breakthrough into machine tools industry. An important step in Hexapod appearance on the market was its presentation in real use to potential customers and buyers. This paper is aimed at showing potentials and possibilities of a concept, in Hexapod application as a machine tool. Visualization was made on a graphic workstation, using the software, which gives a good insight into reviewed concepts of the Hexapod machine tool. 2. Reasons why parallel structures were introduced in industry A rapid growth and development of science enables new approaches in problem solving in practical work. Production with machine tools is expensive, and requires large investments into initial capital. Market competition is steep and even small savings in cost efficiency can give an edge and an advantage over competitors on the market. Production gets more and more demands for improvement, and these demands and requirements can be listed in several important categories: Production flexibility High quality Low price of a product Short production time Low costs of production. These elements are dictating todays relations in the market. Successful manufacturers, in search of improvement of the above listed elements, develop new ideas, which will bring them an advantage over competition. One of these ideas is a development of machine tools with a parallel kinematic structure. Improvements, which these structures offer, in combination with high-speed cutting, are great, and they could give a winning advantage on the market. Since a Hexapod machine tool gives a great flexibility in production, it has great potentials and possibilities. Primarily, it allows that angular cutting heads be used, which increases its cutting possibilities. Different combinations of structures can cover a broad spectrum of workpieces. Biggest influence on flexibility has the modular way of construction of these machine tools concepts, where the use of different modules provides structures that have different applications. Accuracy, achieved in these tools concepts, is below 20(m, which is satisfactory for a large part of industrial production, and depends on approximate type of basic structure, which is very high. Accuracy still has to be worked on, since the use of passive joints influences the thermal and dimensional stability of a structure. This requires the use of sensors and processors for dynamic compensation of dilatation, which use can improve the accuracy. Product price also includes machine tools compensation. According to Hexel Tornado 2000 sales price, which is now approx. USD 500,000.00, this compensation can be a big one. However, Hexel estimates that serial production could lower the price below USD 100,000.00. For machine tools, with accuracy below 20(m, the ratio of price against machining capabilities is a great one. The area of application and use of these machine tools, with a parallel kinematic structure, is derived from the very same concept of these tools. In combination with a high-speed cutting, these tools can achieve extraordinary results. Mould cutting time, previously undergoing thermic processing, is significantly decreased. Light mass of end effector in these tools enables quick moves and high acceleration. Therefore, the overall technology time is decreasing. Production costs are directly linked to production time. The possibility to use standard components (standard tools, contraction devices, etc) in manufacturing products and the machine tool itself, will also decrease production costs. High-speed cutting, without use of any coolants (dry cutting), possible in these machine tools, is highly cost-efficient. Having taken into consideration the above facts, we can anticipate more and more of these machine tools with parallel kinematic structure to be used in production. Their advantages cannot be easily brushed away. 3. Choosing a concept A Hexapod, with its base (a parallel kinematic chain as a tool base) enables us with many viable options, that can vary significantly from each other. One of the possible approaches to classification has been given in a figure 1 (2(, and is well laid out. Due to specific needs of individual processes, its needed to choose an adequate concept. A special attention should be given to a number of needed numerical axes. Some solutions have their advantages in directions of individual numerical axes. On the other hand, the other solutions have certain problems in the very same directions. A very interesting testing in this respect was made at the Institute of Chemnitz, Germany. In general, from available literature, parallel kinematic structures with six degrees of movement freedom can be classified as in a figure 1 (3(.  EMBED Visio.Drawing.5  Figure 1: Construction variants scheme (3( The scheme gives an overview of all possible variants in a concept, which could show up in actual application. As it may see, division is based on variants of a drive. Rotational drive today is mostly based on ball-screw spindle. The rotational direct drive is not yet in wide practical use as much as an indirect one, used in the first prototypes (Hexel Tornado 2000 and Ingersoll Octahedral Hexapod). Having taken into consideration a development of linear direct motors, a more interesting approach is the one, with linear direct drive. Here we have two interesting approaches, in which supporting struts have a very important role. Struts are constructed with a fixed (constant) length, or changeable (adjustable) length. If we consider current level of development of these linear motors, and some problems that still need to be resolved, a more interesting solution would be the use of fixed, constant length of struts. In this concept, the full impact is received from acceleration and linear motors power, as well as significant suppression of vibrations.  Figure 2: Scheme of a chosen concept (5( One kind of that concept is being tested at the IWF Institute in Switzerland (4( ( Hexaglide), a concept similar to the one in figure 2 has been developed by the company Toyoda Machine Works Ltd., which is an interesting one to show possibilities in positioning in space. To start research on the problem of parallel structured machine tools, this concept has given a solid start to learn of possibilities in this type of tools. This is why this concept has a simulation of movement in several simple trajectories, which should present possibilities of these concepts to a wider audience of potential users, especially in Croatia. 4. Applied software The idea is, to visually present the possibilities of a chosen concept of a parallel kinematic structure. The scheme is simulating a movement of a tool, in a simple trajectory for an inversion kinematic problem, while a direct problem has no workpiece model, and attention is given to the the moving platform. The simulation is enabled by use of I-DEAS Master Series 6 software, which has been installed on a SUN Sparcstation graphic workstation. I-DEAS software is a modular software, which is comprised of several applications, bearing different (so-called) tasks for specific branch of engineering and its use. Since the structure is a complex one, we expect that several different applications of the software would be used. Otherwise, the software provides possibitilies of an in-depth analysis of such tool concepts, and the future work on this problems will certainly require the use of these capabilities. 5. Making a model and a movement simulation For the first simulation, there is a simplified model. In these models, we observe the movement of macrogeometrical elements of a construction. For a chosen concept there are elements, that provide visual appearance of the complete machine tool. This means, that the model does not have all drive elements and the basic contruction, but only those ones, that can provide movement visualisation of the movable parts of a construction. The chosen concept by itself provides basic elements, needed for a simplified model. From the figure 2 we can see the basic elements of the construction. The surrounding construction of the supporting part of the machine tool has been left out, as well as the worktable. For a simulation, it is important to observe the movement of the moving platform, bearing the modelled tool for the inversion kinematic problem. Below the moving platform, there are different shapes of workpieces placed, which define simple trajectories of the tool. By using this simplified presentation, we can visualize more easily the model in action and the computer work is made easier too. For a simulation of a direct kinematic problem there was no modelling of a tool or a workpiece, simply the basic elements, in order to simplify calculations and the graphics. There are movement simulations for both inversion and direct kinematic problems, in directions of all six numeric axes. In respect to the model, the Z axis has been oriented vertically, upwards, or rather, in direction of the axis of the modelled tool. This also decided the positioning of all other linear and rotational axes of a classic system. The starting position has been the same for all simulations. Since it is easier to solve the problem of an inversion kinematic problem for the concept of a parallel kinematic structure, it is therefore easier to work out a correct simulation of a movement in a desired trajectory. Otherwise, simulations for a direct kinematic problem have been made too, but in this simulation occur some problems, as simulation could not be effected fully. Most often there was a problem of mechanism getting stuck or blocked, or rather, some elements would lock in their end-positions. In inversion problem, these situations are avoided much more easily. In direct problem, blocking of an element is more difficult to solve, since the problem has an iterative characteristic (6(. Besides, application attempts on a model are long lasting, in terms of time, without a concrete application in practice. The complete simulation has been made in Design application, a part of the I-DEAS software, while the shaping of basic elements was done by use of sub-application Master Modeler, which enables a creation of a model of any shape or any dimension. Modelled elements are complied in the sub-application Master Assembly, which enables an exact positioning into a meaningful whole. Defining of certain joints, in order to get a mechanism (manipulator) with six degrees of freedom, was created in the sub-application Mechanism Design. This sub-application has defined joints between individual elements, and also a simulation of mechanism movement was effected too. Finally, after all necessary steps in creating a model and defining all necessary parameters have been made, we have come up with a Hexapod model, as shown in the figure 3. As you can see from the figure, there is a modelled mechanism with bogus tools and a workpiece. A worktable and the tool surroundings have been left out on purpose, as irrelevant for the simulation and observation of movement. Between the elements 1" and "2" there is a translatorial joint defined; between the elements "2" and "3" there is an universal joint; between the elements "3" and "4" there is a spherical joint. By checking degrees of movement freedom, the software confirmed that six degrees of freedom existed, which means that this configuration could be called a Hexapod. For different trajectories we had workpiece changed (element "5"), in order to have representative positions of the mechanism during the movement. In figure 4 we have provided some configurations, while the tool is moving in simpler trajectories.  Figure 3: Model of a parallel kinematic structure machine tool, with six degrees of movement freedom in space (Hexapod) 1- Tool base with sliding grooves 2- Slider 3- Strut 4- Moving platform 5- Workpiece During the movement simulation, certain parts of the mechanism have been observed closely, spherical joints on the moving platform in particular, being the most crtitical parts of the mechanism. On the figure 4, items A1 and A2, we can clearly visualize a favourable trajectory in direction of a negative Z-axis. In simulation of a drilling process, the mechanism was moving only in direction of the Z-axis, since it was not moved from the central symetrical axis. The mechanism in this movement had stable characteristics and looked firm and unbending. The important thing here to notice is that, in order to have this movement, we need six sliders sliding on the tool base. This means, that for this movement a Hexapod is using six simultaneously-driven axes. The slider groove directions are actual directions of the six numerically-driven Hexapod axes, which instantly indicates, that classic axes directions do not coincide with directions of the Hexapod axes.  Figure 4: Mechanism in initial and current positions during movement in simple trajectories A1- Initial position for drilling A2- Mechanism during drilling process B1- Initial position for milling of main groove B2- Mechanism in passing through flat groove C1- Initial position for milling circular groove C2- Mechanism in passing circular groove D1- Initial position for milling a cyllinder D2- Mechanism during the milling of a cyllinder The figure 4, items B1 and B2, shows a simulation of milling a flat groove. Movement is effected on a constant value of Z coordinate, which means that the mechanism was moving simultaneously in two numeric axes (it is possible, that this movement is effected in one axis direction, if the groove direction coincides with the axis direction). This simulation takes the mechanism from the central axis, becoming anti-symmetrical, which is implicating a possible unstable condition. In the figure 4, items C1 and C2, we have a simulation of movement in the same level with rotation around vertical axis (in this case, C-axis). This figure explains clearly the problem of applying this sixth classical axis in this machine tool. There is a possibility of a collision of paired struts, with spherical joints on a moving platform easily affixed in critical positions. This is why the sixth axis should be avoided in this mechanism. In the figure 4, items D1 and D2, we have a simulation of platform inclination, so that the platform is no longer parallel to the upper level of the tool base. This can provide a simulated fifth axis processing, in which spherical axes A and B are being used. This also indicates to a problem of spherical joints on the moving platform, coming into critial positions too quickly. 6. Conclusion The effected simulations in some elementary trajectories have given us insight into possiblities of the observed concept of a machine tool. Its application, as a machine tool, is definitely possible, with advantages in the construction itself. The first look at this model gives out the entire system symmetrical characteristics. Symmetry implies that there is a possibility of high repeatability of certain parts in a mechanism. This primarily relates to drive parts, which in this case would be linear motors. Standard elements, which can be purchased in the market, are universal joints, main spindle, drive motors. All these elements can also be used in other concepts of machine tools of the parallel kinematic structure. The only element, which is not a standard one, is the tool base. However, the tool base is not an expensive part either. A good example of this is Ingersoll Octahedral Hexapod, which is a very representative model. The entire base is made of standard tubes. Also, the base of this modelled tool can easily be made at low cost. Mass of the moving parts can be reduced significantly, which implies reducing of necessary drive power. Combined with linear motors, this concept can give a great advantage in cutting heavy moulds. The entire structure, because of the small mass of motorspindle and its tool, can easily be moving faster (moving platform with the tool in a model is enhanced, so that movement observation is made easier, in real life it can be decreased significantly), and slowed down as well. High flexibility of this structure enables an optimum approach of the tool to the workpiece (5-axes cutting). Possibilities of variants and modular building give almost indefinite number of possible combinations, as per requests from individual manufacturers. Simulation of a movement showed some problems in these structures as well. The biggest problem is definitely a problem of too small workspace, or rather, too big volume of the machine tool, that leaves out very little workspace. More over, the shape of this workspace is difficult to determine. This problem should be dealt with first, and addressed first in future work. Restrictions imposed by passive joints, universal in shape at one side of a strut, and spherical in shape at the other, decrease the workspace of the tool. Optimization of its construction should be of primary importance in future prototype production. The problem of sensitivity to platform inclination is possible to solve, by applying an angular head on the main spindle. Also, the structure can be modified by different distribution of Hexapod axes (3(. Already high interest in recent years has produced a large number of variants in concepts of a parallel kinematic structure machine tool. The first prototypes are already being tested, and have given more than satisfactory results. Of course, there have been some problems, which slow down a quick application of these tools in industrial use. However, rapid growth and developments in science and technology enable us with quick solutions of these problems. In the next few years to come, we anticipate, that Hexapod will take up an important role and become a significant part in machine tool production. Some announcements by Hexel Corporation have already increased interest of the potential buyers. Namely, the price decrease announcement for Hexel Tornado 2000, from USD 500,000.00 to levels below USD 100,000.00 (if Tornado is produced in larger quantities) could have a big impact on the market and reshape the existing relations significantly. References Stewart, D., A Platform with Six Degrees of Freedom. Proc. Instn. Mech Engrs, 1965-66, str. 371-386 Pristchow, G., Wurst, K., Systematic Design of Hexapods and other Parallel Link Systems, Annals of the CIRP, 46(1), str. 337-340, 1998. Warnecke, H., Neugebauer, R., Wieland, F., Development of Hexapod Based Machine Tool, Annals of the CIRP, 47(1), str. 337-340, 1998. http://iwf.bepr.ethz.ch/projekte/hexa/home.html Shibukawa, T., Tooyama, T., Hattori, K., Ohta, H., Development of Parallel Mechanism based Milling Machine (HexaM), Technical Report 448, Toyoda Machine Works Ltd., Japan, 1997.  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