نوع مقاله : مقاله پژوهشی
موضوعات
عنوان مقاله English
نویسندگان English
The use of robots with parallel mechanisms in machine tools that have special capabilities is expanding. The main problem in these devices is the variability of the rigidity of the mechanism in its workspace, which directly affects the machining accuracy. In this paper, a four-degree-of-freedom robot with a parallel mechanism and using a milling machine, which was designed and built for the first time, is introduced and machining studies are carried out in its workspace. To investigate the effect of the rigidity of this machine tool on the accuracy and surface roughness of machined parts, a force and rigidity analysis of the machine structure in its workspace have been performed. Dimensional and geometric quality control of standard machined parts has been performed using a coordinate measuring machine (CMM). The dimensional and geometric quality and surface roughness of the machined parts, proved the direct relationship between the rigidity of the machine and these parameters. As is evident from the measurement results, the higher rigidity of the structure in the middle part of the workspace resulted in better dimensional and geometric accuracy of the machined parts. Machining accuracies in this area are about 15% higher than in other areas. Due to the low depth of cut in the finishing conditions, the surface roughness results of the machined parts are almost the same in all regions of the working space
کلیدواژهها English
