TRICEPT PRODUCT RANGE

BUSINESS MODEL

PatentsSpecificationsDrawingsManufacturingR&DService

Cooperation agreement INTEGRATIONIntegrator

TRICEPTThe Tricept is a modular hybrid Parallel Kinematics Machine (PKM) including5 (or 6) axes controlled by a Siemens 840D control. Three of the degreesof freedom (DOF) of the module are supplied by the tripod (configured bythree electrical linear actuators, moving in parallel). The two (or three)additional DOF are provided by the wrist, a serial linked rotational head,assembled into the moving frame of the tripod. Both parts allow the Triceptto move with 5 (or 6) DOF, as needed.

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THE SUCCESS OF THE TRICEPT IS BASED ON THE FOLLOWING ASPECTS, AMONG OTHERS:· The Tricept is a modular machine, with three actuators that are exactly equal and stressed only by tensile and compressive

loads. The central tube accounts for the torsional moments.

· Direct Measuring System (DMS). The redundant encoders (measuring rotations of the central tube and displacementalong it) provide extra accuracy and rigidity to the global system.

· High dynamics, minimizing time between operations.

· Customers report very high reliability in terms of low downtime ratios.

· Reasonably large work envelope allowing good accessibility to different areas without moving the part.

· Flexible machine. Tricept can be reconfigured and reprogrammed facilitating quick changes in production and aidingthe development of the production lines before the product is fully defined, thus achieving a shorter time to market.

· Redundancy. In a Tricept-based solution any of the modules can work in place of a module that is down, and there aretherefore no total production stops.

· Programming can be done with virtual machines that run in Siemens 840D, thus saving time on new part programming.

ADVANTAGES OF THE MODEL AND THE PRODUCT:· TRICEPT: Mature product, recognized by the market

· NO INITIAL INVESTMENT: The development of a special module is not necessary

· UPDATES: Any improvement in the product is immediately ready for the integrator

· ASSISTANCE: The integrator benefits from the technical experience built up over many years on the market

· HOMOGENEITY: Modules manufactured under the same specifications

· END USER INSTALLATION PRICE: The impact of Tricept's price is low

· AVAILABILITY: More than 300 Tricepts installed vouch for product warranty

· CALIBRATION: There is software for the optimization of the Kinematics Model parameters and global compensation

5 AXES ADVANTAGES· MACHINING OPTIMIZATION: Direct measuring of each part allows for fine adjustments

· COMPLEX MACHINING: due to its orientation capabilities

· SINGLE SETUP: improvement of final accuracy

· ATTACK ANGLE can be selected: it allows selection of multiple path machining

TRICEPT CHARACTERISTICS VS ARTICULATED ROBOTS AND STANDARD MACHINE TOOLS:

· Both articulated robots and machined tools are built with a "link over link" design, usually called Serial Kinematics Machines(SKM). The benefits of articulated mechanisms are based on their flexibility and ability to mechanically transport loadsbetween points within a reasonably large work area. Their biggest disadvantage is in the fact that the moving load issupported in turn by each of the links of the serial robot. This means that the nearer to the ground a link is, the bigger theload to be supported by this link is. As a result of this fact, articulated robots are usually characterized by low accuracyand low rigidity.

· CNC Machine Tools are also SKM. In contraposition to robot arms, however, they have a very high requirement for bothaccuracy and rigidity. In order to achieve such requirements with a SKM structure, CNC Machine Tools are usuallydesigned with very large masses added to each moving axis. At this point accuracy and rigidity are obtained, but flexibilityand dynamics are lacking.

· In order to combine both high flexibility and accuracy together with an acceptable rigidity and dynamic response, theParallel Kinematic Mechanisms (PKM) like Tricept modules come into play. Here "parallel" means that all or some of thejoints must act in parallel in order to reach a position in the workspace. It also means that the load applied to the toolcenter point (TCP) can be supported in parallel by the legs of the platform, distributing the load to be supported in a moreadequate way.

Speed Accuracy Stiffness Flexibility

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Machine Tools

Tricept

Articulated Robots

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STRUCTURAL MACHINING AUTOMOTIVE· 59 units for end users like BMW, PSA, HYDRO, ALCOA, GM, VOLVO and MERIDIAN

STRUCTURAL MACHINING RAILROAD· 3 units for end users like ALSTOM

POWERTRAIN MACHINING· 7 units for end users like PSA and JYDSK

ENGINE PARTS DEBURRING· 11 units for end users like LUZURIAGA, FUNDO, MONTUPET, PSA and ARVIKA

FRICTION STIR WELDING (FSW)· 4 units for end users like BOEING, GKSS, RIFTEC and UN. MISSOURI

LASER WELDING AND CUTTING· 32 units for end users like VOLKSWAGEN, AUDI and SEF

STRUCTURAL MACHINING AEROSPACE· 46 units for end users like AIRBUS, BOEING, GKN, BRITISH AERO and SAAB

ENGINE PARTS ASSEMBLY· 17 units for end users like GM, RENAULT and SCANIA

MOULDS & DIES· 1 unit for SCHULER

PLASTICS MACHINING· 5 units for end users like LEAR and LOLA CARS

APPLICATIONS TRICEPT

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TRICEPT MODULE T9000

Number of axes 5

AccuracyVolumetric positioning ± 50 μm ISO 230-2Path following accuracy ± 50 μm ISO 230-2Repeatability ± 10 μm ISO 230-2

HandlingContinuous actuator force 20 kNPeak actuator force 40 kNContinuous axis 4 torque 1961 NmPeak axis 4 torque 4900 NmContinuous axis 5 torque 980 Nm Optional 1250 NmPeak axis 5 torque 2450 Nm Optional 3125 NmAxial thrust on wrist 60 kNRadial thrust on wrist 15 kN

MovementActuator linear stroke 1000 mmAxis 4 rotational angle ± 360ºAxis 5 rotational angle -10º/+120º

VelocityActuator linear velocity 24 m/minAxis 4 rotational velocity 145º/sgAxis 5 rotational velocity 90º/sg

AccelerationActuator linear acceleration 4 m/s2

Axis 4 rotational acceleration 715 º/s2

Axis 5 rotational acceleration 400 º/s2

StiffnessX/Y direction 120 N/μm ISO 9283:1998, Section 10Z direction 200 N/μm ISO 9283:1998, Section 10

WeightModule weight 3400 KgDynamic weight 900 Kg

ProtectionStandard IP54With overpressure IP66

EnvironmentOperating Tp 0-55º

ControlCNC Siemens Sinumerik 840D

Direct Measuring System (DMS) ready

The T9000 module has the following unique characteristics:

· It is suitable for drilling and milling hard metals such as stainless steel and titanium.· Bigger work envelope.· Transmission free of belt transmissions in rotary axes.· Reinforced central tube with increased rigidity.· More accurate DMS system with standard optical encoders.· Interchangeable machine interface with current T805 modules.· Increased load carrying and quick spindle installation and service.· No external cabling (all connections to the spindle are made internally).· Service friendly.· Typical Spindle IBAG 210-230 HSK 63.

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NOTE:Tool length: 100 mmToll direction: Z+

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TRICEPT MODULE T805

Number of axes 5 (6 option)

AccuracyVolumetric positioning ± 50 μm ISO 230-2Path following accuracy ± 50 μm ISO 230-2Repeatability ± 10 μm ISO 230-2

HandlingContinuous actuator force 15 kNPeak actuator force 30 kNContinuous axis 4/5 torque 800 NmPeak axis 4/5 torque 1960 NmAxial thrust on wrist 45 kNRadial thrust on wrist 10 kN

MovementActuator linear stroke 800 mmAxis 4 rotational angle ± 320ºAxis 5 rotational angle -10 / +120º

VelocityActuator linear velocity 24 m/minAxis 4 rotational velocity 145º/sgAxis 5 rotational velocity 90º/sg

AccelerationActuator linear acceleration 9,8 m/s2

Axis 4 rotational acceleration 7200º /s2

Axis 5 rotational acceleration 1800 º/s2

DynamicsMax feed rate 90 m/minMax acceleration 2g

WeightModule weight 2600 Kg

ProtectionStandard IP54With overpressure IP66

EnvironmentOperating Tp 0-55º

ControlCNC Siemens Sinumerik 840D

Direct Measuring System (DMS) ready

Tricept T805. Tricept Machine Tool Module is a unique concept with unique performancethat combines extreme dynamics and a large travel envelope with flexibility and modularmachine design.

· Applications vary from light to heavier machining

· Axis 6 optional

· Typical Spindle IBAG 170.5

· Optional aluminium wrist

· Optional harmonic drive and torque motor drives

· Optional internal cabling

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Spindle orientation: Z+

NOTA:Spindle: IBAG HF170.5

16001400120010008006004002000-200-400-600-800-1000-1200-1400-1600

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Tricept T9000 and T805 are equipped with a unique, patented Direct Measuring System. This system is based on a combinationof the Tricept standard Parallel Kinematic positioning system and a traditional Cartesian positioning system mounted on thecentre tube and its suspension.

These two systems compare the X-Y-Z positioning values during operation in real time.

The DMS consists of three encoders that directly detect the movement of the central tube around the central upper gimbalsof the Tricept (measured by encoders E1 and E2) and its displacement along the linear encoder E3.

DIRECT MEASURING SYSTEM

DMS WORKS AS FOLLOWS:

1. The operator (or the program) commands the module to move from position P1 to P2. The control acts on the active links(struts) s1, s2 and s3 to reach the desired position.

2. Once the actuator lengths have been reached, the passive link (central tube) encoders E1, E2 and E3 are read. Calculatingthe TCP position via these encoders (avoiding the complicated calculations via the parallel kinematic structure) gives anew P2 position, with a Δ error.

3. This error is analyzed by Siemens 840D control and it commands the actuators s1, s2 and s3 to move accordingly tocorrect it.

It is important to realize that the measurement obtained from the DMS system is much more precise (due to the high qualityencoders used) than the one provided by the motor encoders. The positioning of the Tricept is therefore driven by theseencoders.

A similar double measurement system is implemented in the wrist rotation. This system is called WMS (Wrist MeasuringSystem). The encoders in the WMS control the actual position of the rotary axes by means of external encoders mounteddirectly on the moving parts of the A and C axes. The way WMS works in the control is similar to the DMS. The WMS encodersread the direct position of axis 4 and 5 rotation (bypassing the motor, transmission and gearbox links) and compare it withthe values obtained from the encoder motors. A Δ value is also computed here and the wrist motors are commanded to thecorrect TCP position.

The DMS and WMS increase the stiffness and accuracy of the machine, and they also compensate for a lot of the effectsof cutting forces and temperature changes.

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P1P2

E2

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SIEMENS

E3 E2

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TRICEPT MODULE T605 & T606

Number of axes 5 (6 option)

AccuracyVolumetric positioning ± 200 μmRepeatability ± 20 μm

DynamicsMax feed rate 50 m/minMax acceleration 1g

WeightModule weight 580 Kg

ControlSiemens Sinumerik 840DABB IRC5 optional (606 module)

Direct Measuring System (DMS) available in T605.

Tricept T605. Tricept Machine Tool Module is a lightweight concept with unique performancethat combines extreme dynamics and a large travel envelope with high flexibility and modularmachine design. It is optimal for light machining, aluminium foundry cleaning, heavy handlingand assembly operations.

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Spindle orientation: Z+

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10008006004002000-200-400-600-800-1000-1200

Polígono Comarca 2, Calle A, 3731191 Esquiroz · Pamplona · Spain

Phone: + 34 948 31 84 03Fax: +34 948 31 84 07

e-mail: information@pkmtricept.com

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