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Optimum solution - Icosaeder structure + Pentapod kinematics
www.metrom.com
Stiffness of the structure
Force of the ball screws driven by direct hollow
shaft drives
Precision by cardan joints and mathematical
transformation
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• Direct drives –highdynamic accuracy of10m/s²
• 5 identical precision ballscrews
• Only longitudinal forcesin the ball screws
• Tough frame design
• modules form a clevermachine concept
• Complete thermalmanagement in machineby hollow shafts andframe as passive cooler
Parallel kinematics
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Robots with the stiffness and accuracy level of Machining centers
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Machining centre
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www.metrom.com
Configuration possibilities
mobile machine gantry-machine
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Compounds for aircrafts
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What we mainly did – milling of all kind of materials
Hard Milling 62 HRC vane production
Tool and Die making
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Laser welding, milling and friction stir welding in one
machine
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Laser-Milling-FSW Hybrid-machine
Exchangeable tool in HSK- adapter
source:Fraunhofer IWS Dresden
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Applications – Additive Manufacturing of plastics
Material PA6-CF (40% carbon fiber content)
Feed rate 900mm/s, Layer height 0,4mm, 5kg/h, nozzle diameter 1mm
Direct printing of reinforcements on workpieces or fixture modification
source:Fraunhofer IWU Bautzen
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applications – hammer peening of surfaces
• NC-controlled surface finish to reduce theroughness by a factor 10 according to baseroughness (down to Rz 0,5)
• Creation of lubrication pockets
• Reduction of internal tensions
• Increase of surface hardness
• Pneumatically driven by air spindle supply
• Currently in development with Fraunhofer IWUas adaptive piezo-electric actuated tool withadjustable resonant frequency up to 700Hz
source: Fraunhofer IWU Chemnitz
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Success since 2008 – Mobile 5-Axis Milling Machine
• Removal of cracks between fir-tree grooves
• Shortened repair time due to machining on site
• Faster process than cutting the segments, lasercladding + heat treatment
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„Kranich 800“ - Worldwide Use in Electrical Power Stations for GE Power AG
• There needs to be a referenceaccording the part to allow forprocessing
• Sample application:
• middle axis of the parts is identified
• the part is turned within a fixturefrom one position to the next
• for rotational symmetrical parts(e.g. processing of rotors)
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Mobile 5-Axis Milling Machine - Transportation
Transport in air cargo container
Transport inside the factory
Transport by truck
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• The ground or workpiece itself can be used as machine foundation
• The frame is fixed stiff at three points with this foundation
• Connection is done by special elements to avoid tension as tensions would impact machine accuracy
• no higher accuracy requirements according this three points
Three base points
Concept for mobile processing
- installation
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• 3D- position teaching of workpiece realgeometry as a net of points according to thereference given
• Workpiece final geometry as target to fit thereal geometry inside and alignment ofcoordinate system
• Correlation between the machine andworkpiece is done by rotation around threemain measured points to find the angular andpositional orientation of machine coordinatesystem according to its current position atthe workpiece
• Either a rotary device or a positioning systemis used for movement of the machine
Strategy for mobile processing
- Global accuracy
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Measurement of machine to workpiece…
milling… drilling tapping…
• Setting up to the workpiece and furthermovement of the machine by constantlyremaining in workpiece coordinates with lasertracker and precise processing
mobile machine – Wind energy
Positioning… Milling, drilling, tapping…
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Why is a Pentapod better than a robot for machining?
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• Full working envelope accuracy ofmovement +/-0,25mm, repeatability0,06mm
• Best available system with laser guidance+/-0,15mm (offline teaching with influenceon cycle time)
• stiffness depending on arm position ->during machining in different speeds thepath offset is between +/-0,25mm(230mm/min) and +/-1,5mm(7900mm/min)
• High costs to enable off the shelf robot forthat approach (Laser tracker necessary)
• Full working envelope accuracy ofmovement +/-0,02mm, repeatability0,003mm laser guidance not necessary inworking envelope!
• Highest available stiffness
• Optimum relation of cost to use
Serial kinematic Parallel kinematic
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Workspace –
mobile machine
workspace in mm diameter Z
PM800 800 400
PM1000 1000 600
PM1400 1400 800
PM2000 2000 1000
Accuracy full working area
Approx. ±0,020mm
repeatability 0,003 mm
• Other workspace sizes available per request
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METROM –PM100 (small mobile machine) finished in 2018
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• Size without struts:
500mm x 500mm x500mm
• Working envelope 5-axis:
– 100mm diameter
– 100mm in z-axis
• weight: < 100kg
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Advantages:
• High material build-up rate up to 600cm³/h
• Easy process that is completely independent from movement direction
• Welding in PA and PC-position possible
• Easy to integrate, easy to use! www.metrom.com
Hybrid Manufacturing powered by 3DMP®
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Machining center
Concept –
mobile to
machining center and backwards
mobile horizontal
Mobile vertical
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METROM Mechatronische Maschinen GmbH
METROM Mechatronische Maschinen GmbH
Schönaicher Str. 6 - 09232 Hartmannsdorf -
GERMANY
Contact: [email protected]
Phone +49 3722 59 863 -12
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New possibilities for creative engineers!