Table 8.
Decoupling performance of related researches.
| Related Researches | Forces | Decoupling Performances | |||||
|---|---|---|---|---|---|---|---|
| Principal Components | Decoupling Components | Decoupling Results | |||||
| Eccentric Range (LX, LY, LZ) (mm) | Output Error (%) | Eccentric Range (LX, LY, LZ) (mm) | Output Error (%) | Eccentric Range (LX, LY, LZ) (mm) | Meaured Error (%) | ||
| [15] | FX | (50, 50, 50) | 0.18 | / | / | / | / |
| FY | 0.18 | ||||||
| FZ | 1.28 | ||||||
| F1 | / | / | / | / | (0, 0, 0) | 1.49 (static test) | |
| [21] | FX | / | / | (8, 12, 31) | 4.74, 4.09,2 | / | / |
| FY | 2.58, 5.38 | ||||||
| FZ | 7.33,10.51 | ||||||
| [17,18,19] | FX | / | / | / | / | (10, 10, <20) | 8–9,3 |
| FY | 20–35 | ||||||
| FZ | 60–90 (milling test) | ||||||
| [16] | FX | (35, 35, 15) | ≤5.2 | (35, 35, 15) | ≤3.94 | (35, 35, 15) | ≤4.80 |
| FY | ≤5.6 | ≤2.98 | ≤4.58 | ||||
| FZ | ≤4.8 | ≤3.48 | ≤4.87 (static test) | ||||
| This work | FX | (35, 35, 15) | ≤3.36 | (35, 35, 15) | ≤2.42 | (35, 35, 15) | ≤4.50 |
| FY | ≤2.06 | ≤2.70 | ≤4.58 | ||||
| FZ | ≤3.50 | ≤3.20 | ≤4.52 (static test) | ||||
| F | / | / | / | / | (35, 35, 15) | ≤4.07 | |
1 F stands for the resultant force of FX, FY and FZ. 2 Based on the explanation in the paper, the difference of coupling error on symmetrical elastic beams to Z axis (10.51% − 7.33% = 3.18%) is mostly caused by the eccentric distance of the tool tip (i.e., LX − LY = 4 mm). 3 The errors were obtained via high speed milling test without eccentric compensations of additional moments.