Spaan, H.A.M.

Theuws, F.C.C.J.M.

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Classification of multi-axis machine tools

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 Classification of multi-axis machine toolsCitation for published version (APA):Spaan, H. A. M., & Theuws, F. C. C. J. M. (1991). Classification of multi-axis machine tools. (TH Eindhoven. Afd.Werktuigbouwkunde, Vakgroep Produktietechnologie : WPB; Vol. WPA1007). Technische UniversiteitEindhoven.Document status and date:Published: 01/01/1991Document Version:Publisher’s PDF, also known as Version of Record (includes final page, issue and volume numbers)Please check the document version of this publication:• A submitted manuscript is the version of the article upon submission and before peer-review. There can beimportant differences between the submitted version and the official published version of record. Peopleinterested in the research are advised to contact the author for the final version of the publication, or visit theDOI to the publisher's website.• The final author version and the galley proof are versions of the publication after peer review.• The final published version features the final layout of the paper including the volume, issue and pagenumbers.Link to publicationGeneral rightsCopyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright ownersand it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.            • Users may download and print one copy of any publication from the public portal for the purpose of private study or research.            • You may not further distribute the material or use it for any profit-making activity or commercial gain            • You may freely distribute the URL identifying the publication in the public portal.If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the “Taverne” license above, pleasefollow below link for the End User Agreement:www.tue.nl/taverneTake down policyIf you believe that this document breaches copyright please contact us at:openaccess@tue.nlproviding details and we will investigate your claim.Download date: 05. Oct. 2023Classification of Multi-axis Machine Tools Authors: Report no.: Ir. H.A.M. Spaan Ir. F.C.C.J.M. Theuws WPA 1007, March 1991. BCR-90/012. CONFIDENTlAL CONFIDENTlAL Introduetion A survey of the different types of five axis CNC milling machines will be made in order to establish the origins and characteristics of their related errors. With this a basis for rnadelling the geometrie structure can be achieved and type dependent finite stiffness effects can be JX>inted out. The following classifications have been suggested: PTB: Classification with respect to the most important errors. Within a certain class the machine tools should have the same type of significant errors. Maho: Classical classification of milling machines [1]: -Bed type milling machine -Knee type milling machine TUE: Classification with respect to the kinematic chain of the milling machine. The underlying classification of different types of five axis milling machines is developed in order to simplify the identification of significant errors [2]. Therefore a separation is made between machine types with the same kind of errors (type dependant errors). The classification is based on the number of possible movements of the tooi holder. - 1-Project: 3320/1/0/160/89/8·BCR-NL(30) Document: BCR·90/012 CONFIDENTIAL Classification In general, milling machines have three perpendicular linear axes. In addition to these three linear axes, a five ax.is milling machine consists of two rotary axes with perpendicular axes of rotation. Also the spindie of a milling machine can be defined as a rotary ax.is. However, the spindie will not be included in this classification, since the errors introduced by the spindie are not machine type dependant. Because rotary axes are available as an option, the three linear axes constitute the basic machine. In all cases the rotary axes will be be added to this basic machine and therefore they will not interfere with the kinematic chain of linear axes. For this reasou a distinction is made between the basic machine and the additional rotary axes. Basic machine The basic machine bas three perpendicular linear axes. These linear axes repcesent the kinematic chain of the basic machine. One end of this kinematic chain supports the tooi, at the other end the workpiece can be placed. The base of the machine is situated within this kinematic chain. As measurements mostly are referred to the base of a machine, a distinction between two chains is made: • A - chain: this chain supports the tooi; • B - chain: this chain supports the workpiece. In figure 1 an example is depicted of a milling machinewithits kinematic chain representation. -2-Project: 3320/1/0/160/89/8-BCR-NL(30) Document: BCR-90/012 CONFIDENTlAL A-chain Fig. 1 Example of A- and B-chain in a knee-type milling machine. In the ISO 841 standard [3] the nomendature for the axes of motion is defined. In normal cases the axis of rotation of the tooi is designated as the Z-axis. However, some modern machine tools are equipped with a swivelling tooi holder, which allows to mill in a horizontal as wellas in a vertical plane. Then applying the ISO standard to these types of milling machines leads to different viewpoints. It appears the last kinematic axis can be designated as the Z-axis as well as the Y -axis. To avoid problems with the nomenclature, the axes are not named X, Y or Z but indicated as horizontal (H) and vertical (V) axes of motion. As a machine consists of three axes, four classes can be discriminated with a different number of axes present in a particular chain. Within these classes two groups are distinguished, where the construction of the machine causes another type dependent error structure. In table 1 the resulting classification is presented. This table gives an overview of the different types of milling machines and their specific errors. In figure 2 some examples are depicted of the in table 1 presented classes. -3-Project: 3320/1/0/J60/89/8-BCR-NL(30} Document: BCR-90/012 Number of axes in: Some of the class dependent errors Examples Classification during traverse of the axis of machine types A-Chain B-Chain ~thoutprocessforces (Fig. 2) 0 3 None 1 2 Class IA Bending of: Knee-type B-Chain: V --t H Table guide = F(Table, Weight/Load) milling A-Chain: H Ram = F(Ram) machine Class IB Bending of: Ftxed-bridge B-Chain: H --t H Table guide = F(Table, Weight/Load) milling A-Chain: V machine 2 1 Class IIA: Bending of: Fixed-column B-Chain: H Table guide = F(Table, Weight/Load) milling A-Chain: V--tH Column = F(Ram, Vertical slide) machine Ram = F(Ram) Class IIB: Bending of: Fixed-bridge B-Chain: H Table guide = F(Table, Weight/Load) or tra velling A-Chain: H --tV .. Colurnil/bridge = F(Ram guide) column machine 3 0 Class lilA: Bending of: Travelling A-Chain: H --t H --t V Bridge guide = F(Bridge) bridge milling Bridge = F(Ram guide) machine Class IIIB: Bending of: A-Chain: H --t V --t H Column guide = F(Column) Travelling Column = F(Vertical slide, Ram) column milling Ram = F(Ram) machine ........ : Sequence in kinematic chain F(E): Function of position of element H : Horizontal axis of motion V: Vertical axis of motion Table 1 Classification of basic machine types. CONFIDENTlAL IA 118 lilA IIIB Fig. 2 Examples of milling machines of tab ie 1. -5-Project: 3320/1/0/160/89/8-BCR-NL(30) Document: BCR-90/012 CONFIDENTlAL Rotaryaxes Apart from three linear axes, a five axis milling machine consists of two rotary axes with perpendicular axes of rotation. Taking two rotary axes it is possible to distinguish three classes with a different number of rotary axes present in a chain. In the next table this classification is shown. Number of rotary elements in: Classification A-Chain B-Chain 0 2 Class 1 Workpiece table can rota te a bout vertical axis and swivel about horizontal axis 1 1 Class 2 Workpiece table can rotate about vertical/horizontal axis and tooi holder can swivel a bout horizontal axis 2 0 Class 3: Tooi holder can swivel about both horizontal and vertical axis -6-Project: 3320/1/0/160/89/8-BCR-NL(30) Document: BCR-90/012 CONFIDENTlAL Example The Maho 700S is a five axis milling machine with three perpendicular Iinear axes and two rotary axes with perpendicular axes of rotadon (Fig. 3) . . fx y Fig. 3 A Jive axis milling machine (Maho 700S). The basic machine, which consists of three Iinear axes, has one linear axis between the tooi and the base (A -chain) and two linear axes between the workpiece and the base (B-chain). As the B-chain contains the verdeal axis, this basic machine can be classified as Class IA. Both the kinematic A- and B-Chain contain a rotary element. Therefore the whole milling machine can be classified as Class IA,2. -7-Project: 3320/1/0/160/89/8-BCR-NL(30) Document: BCR-90/012 CONFIDENTlAL Condusion With the described classification a distinction can bemadebetween different types of five axis milling machines that manifest the samekind of errors (i.e. type dependent errors). With the knowledge of the type dependent errors the definition of a eaUbration setup and the error budget of the machine are significantly simplified. As the classification distinguishes between different number of axes present in the A- and B-chain, it becomes less difficult to model the geometrie error structure of the milling machine by using this classification. Uterature [1] A list of the most important type dependent geometrical and thennic errors of machine tools, Maho AG, BCR-90/006, June 1990. [2] Draft Standard ASME BS TC52, June 1990. [3] ISO 841: Numerical control of machines - Axis and motion nomenclature. ISO International standard, First edition, July 1974. -8-Project: 3320/1/0/160/89/8-BCR-NL(30) Document: BCR-90/012 

 Classification of multi-axis machine toolsCitation for published version (APA):Spaan, H. A. M., & Theuws, F. C. C. J. M. (1991). Classification of multi-axis machine tools. (TH Eindhoven. Afd.Werktuigbouwkunde, Vakgroep Produktietechnologie : WPB; Vol. WPA1007). Technische UniversiteitEindhoven.Document status and date:Published: 01/01/1991Document Version:Publisher’s PDF, also known as Version of Record (includes final page, issue and volume numbers)Please check the document version of this publication:• A submitted manuscript is the version of the article upon submission and before peer-review. There can beimportant differences between the submitted version and the official published version of record. Peopleinterested in the research are advised to contact the author for the final version of the publication, or visit theDOI to the publisher's website.• The final author version and the galley proof are versions of the publication after peer review.• The final published version features the final layout of the paper including the volume, issue and pagenumbers.Link to publicationGeneral rightsCopyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright ownersand it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.            • Users may download and print one copy of any publication from the public portal for the purpose of private study or research.            • You may not further distribute the material or use it for any profit-making activity or commercial gain            • You may freely distribute the URL identifying the publication in the public portal.If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the “Taverne” license above, pleasefollow below link for the End User Agreement:www.tue.nl/taverneTake down policyIf you believe that this document breaches copyright please contact us at:openaccess@tue.nlproviding details and we will investigate your claim.Download date: 04. Oct. 2023Classification of Multi-axis Machine Tools Authors: Report no.: Ir. H.A.M. Spaan Ir. F.C.C.J.M. Theuws WPA 1007, March 1991. BCR-90/012. CONFIDENTlAL CONFIDENTlAL Introduetion A survey of the different types of five axis CNC milling machines will be made in order to establish the origins and characteristics of their related errors. With this a basis for rnadelling the geometrie structure can be achieved and type dependent finite stiffness effects can be JX>inted out. The following classifications have been suggested: PTB: Classification with respect to the most important errors. Within a certain class the machine tools should have the same type of significant errors. Maho: Classical classification of milling machines [1]: -Bed type milling machine -Knee type milling machine TUE: Classification with respect to the kinematic chain of the milling machine. The underlying classification of different types of five axis milling machines is developed in order to simplify the identification of significant errors [2]. Therefore a separation is made between machine types with the same kind of errors (type dependant errors). The classification is based on the number of possible movements of the tooi holder. - 1-Project: 3320/1/0/160/89/8·BCR-NL(30) Document: BCR·90/012 CONFIDENTIAL Classification In general, milling machines have three perpendicular linear axes. In addition to these three linear axes, a five ax.is milling machine consists of two rotary axes with perpendicular axes of rotation. Also the spindie of a milling machine can be defined as a rotary ax.is. However, the spindie will not be included in this classification, since the errors introduced by the spindie are not machine type dependant. Because rotary axes are available as an option, the three linear axes constitute the basic machine. In all cases the rotary axes will be be added to this basic machine and therefore they will not interfere with the kinematic chain of linear axes. For this reasou a distinction is made between the basic machine and the additional rotary axes. Basic machine The basic machine bas three perpendicular linear axes. These linear axes repcesent the kinematic chain of the basic machine. One end of this kinematic chain supports the tooi, at the other end the workpiece can be placed. The base of the machine is situated within this kinematic chain. As measurements mostly are referred to the base of a machine, a distinction between two chains is made: • A - chain: this chain supports the tooi; • B - chain: this chain supports the workpiece. In figure 1 an example is depicted of a milling machinewithits kinematic chain representation. -2-Project: 3320/1/0/160/89/8-BCR-NL(30) Document: BCR-90/012 CONFIDENTlAL A-chain Fig. 1 Example of A- and B-chain in a knee-type milling machine. In the ISO 841 standard [3] the nomendature for the axes of motion is defined. In normal cases the axis of rotation of the tooi is designated as the Z-axis. However, some modern machine tools are equipped with a swivelling tooi holder, which allows to mill in a horizontal as wellas in a vertical plane. Then applying the ISO standard to these types of milling machines leads to different viewpoints. It appears the last kinematic axis can be designated as the Z-axis as well as the Y -axis. To avoid problems with the nomenclature, the axes are not named X, Y or Z but indicated as horizontal (H) and vertical (V) axes of motion. As a machine consists of three axes, four classes can be discriminated with a different number of axes present in a particular chain. Within these classes two groups are distinguished, where the construction of the machine causes another type dependent error structure. In table 1 the resulting classification is presented. This table gives an overview of the different types of milling machines and their specific errors. In figure 2 some examples are depicted of the in table 1 presented classes. -3-Project: 3320/1/0/J60/89/8-BCR-NL(30} Document: BCR-90/012 Number of axes in: Some of the class dependent errors Examples Classification during traverse of the axis of machine types A-Chain B-Chain ~thoutprocessforces (Fig. 2) 0 3 None 1 2 Class IA Bending of: Knee-type B-Chain: V --t H Table guide = F(Table, Weight/Load) milling A-Chain: H Ram = F(Ram) machine Class IB Bending of: Ftxed-bridge B-Chain: H --t H Table guide = F(Table, Weight/Load) milling A-Chain: V machine 2 1 Class IIA: Bending of: Fixed-column B-Chain: H Table guide = F(Table, Weight/Load) milling A-Chain: V--tH Column = F(Ram, Vertical slide) machine Ram = F(Ram) Class IIB: Bending of: Fixed-bridge B-Chain: H Table guide = F(Table, Weight/Load) or tra velling A-Chain: H --tV .. Colurnil/bridge = F(Ram guide) column machine 3 0 Class lilA: Bending of: Travelling A-Chain: H --t H --t V Bridge guide = F(Bridge) bridge milling Bridge = F(Ram guide) machine Class IIIB: Bending of: A-Chain: H --t V --t H Column guide = F(Column) Travelling Column = F(Vertical slide, Ram) column milling Ram = F(Ram) machine ........ : Sequence in kinematic chain F(E): Function of position of element H : Horizontal axis of motion V: Vertical axis of motion Table 1 Classification of basic machine types. CONFIDENTlAL IA 118 lilA IIIB Fig. 2 Examples of milling machines of tab ie 1. -5-Project: 3320/1/0/160/89/8-BCR-NL(30) Document: BCR-90/012 CONFIDENTlAL Rotaryaxes Apart from three linear axes, a five axis milling machine consists of two rotary axes with perpendicular axes of rotation. Taking two rotary axes it is possible to distinguish three classes with a different number of rotary axes present in a chain. In the next table this classification is shown. Number of rotary elements in: Classification A-Chain B-Chain 0 2 Class 1 Workpiece table can rota te a bout vertical axis and swivel about horizontal axis 1 1 Class 2 Workpiece table can rotate about vertical/horizontal axis and tooi holder can swivel a bout horizontal axis 2 0 Class 3: Tooi holder can swivel about both horizontal and vertical axis -6-Project: 3320/1/0/160/89/8-BCR-NL(30) Document: BCR-90/012 CONFIDENTlAL Example The Maho 700S is a five axis milling machine with three perpendicular Iinear axes and two rotary axes with perpendicular axes of rotadon (Fig. 3) . . fx y Fig. 3 A Jive axis milling machine (Maho 700S). The basic machine, which consists of three Iinear axes, has one linear axis between the tooi and the base (A -chain) and two linear axes between the workpiece and the base (B-chain). As the B-chain contains the verdeal axis, this basic machine can be classified as Class IA. Both the kinematic A- and B-Chain contain a rotary element. Therefore the whole milling machine can be classified as Class IA,2. -7-Project: 3320/1/0/160/89/8-BCR-NL(30) Document: BCR-90/012 CONFIDENTlAL Condusion With the described classification a distinction can bemadebetween different types of five axis milling machines that manifest the samekind of errors (i.e. type dependent errors). With the knowledge of the type dependent errors the definition of a eaUbration setup and the error budget of the machine are significantly simplified. As the classification distinguishes between different number of axes present in the A- and B-chain, it becomes less difficult to model the geometrie error structure of the milling machine by using this classification. Uterature [1] A list of the most important type dependent geometrical and thennic errors of machine tools, Maho AG, BCR-90/006, June 1990. [2] Draft Standard ASME BS TC52, June 1990. [3] ISO 841: Numerical control of machines - Axis and motion nomenclature. ISO International standard, First edition, July 1974. -8-Project: 3320/1/0/160/89/8-BCR-NL(30) Document: BCR-90/012 

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