Study on External Force Estimation Method for Parallel Link Type Machine Tool

Evaluation of external force estimation model during helical machining

Abstract

In this study, a digital twin system has been constructed for a 5-axis machine tool consisted of parallel and serial mechanisms. In this system, Based on motion of equations using the Jacobi matrix during machining with relative motion, a disturbance estimation model acting on the tool tip was derived from the servo-motor information such as position, torque, and current values of each drive axis.This paper reports the evaluation results of the proposed method by comparing the measured and estimated cutting forces during helical machining.