Rotary tables are generally regarded as the forth axis of machining tools. Traditionally, gear sets are used as reducers in the rotary tables. In order to improve the positioning accuracy, load and efficiency of rotary tables, a rotary table which applies the roller gear cam reducer is proposed. From the deduction of the theory, applications of roller gear cam reducers in the industries can be achieved. This thesis is focused on developing the procedure as follows: Firstly, the type of roller gear cam reducer and design parameters are identified. Secondly, the mechanical characteristics of the device are analyzed. Finally, a rotary table is designed and implemented to investigate the performance of the of the roller gear cam rotary table.

The main research topic of this dissertation thesis deals with the influence of the working accuracy related to large CNC machines on the required workpiece properties. The state-of-the art has constantly been developed and the customer’s requirements directed to manufacturers of the machine tools are increasingly demanding. There is required a high accuracy, reliability, shortening delivery times etc. The manufacturer is expected to fulfill all the customer’s requirements. The machining accuracy is dependent, among others, on the positioning accuracy of a machine tool that represents the position of the cutting tool relative to a workpiece. The accuracy of a particular machine tool is therefore a limiting factor concerned with reaching the highest accuracy and quality of a workpiece. Acceptance test procedures are initially realized within a manufacturing shop floor and then within a customer environment. The main subject of the testing procedures is to verify. basic properties of a machine tool such as basic dimensions of a machine, strokes in all respective coordinates, machine travels and spindle speeds. A machining of a workpiece with a desired precision specified by the customer is also performed. In this thesis, a new methodology to calculate and determine errors concerned with machining on vertical lathes is proposed with the aim of predicting the machining accuracy of CNC machine tools. The objective of this work was to determine the influence of machining accuracy of a CNC machine in connection with a subsequent geometrical accuracy of a workpiece. Considered position of a tool relative to a workpiece will be affected by errors concerned with a kinematical inaccuracy, geometrical errors and errors related to machining forces. A vertical lathe SKIQ 30 produced by TOSHULIN, a.s. has been used as a testing machine on which the proposed methodology has been verified. During processing various calculations in this thesis there has been found out that the machining inaccuracy of the machine – main topic of interest – is influenced by the machining conditions such as cutting conditions, material to be machined and even the setting of working positions of the machine. For instance, a position of the cross slide is determined by a workpiece height and a position of the lathe carriage that is determined by a workpiece diameter and a travel of the slide that is also determined by a workpiece height. It can be stated then that to predict the machining accuracy of work pieces, it is important to know the behavior of the machine in its all range of working envelope. Based on the information acquired about the behavior of the machine, it can be determined an appropriate position for a workpiece setting that allows utilizing the maximum reachable accuracy with respect to the stiffness and geometrical accuracy of the machine tool. An appropriate setting of initial working position may influence the subsequent geometrical accuracy of a workpiece.

The main subject of this doctoral thesis is the influence of the geometrical accuracy of large CNC machine tools on desired features of produced work pieces. Doe to globalized market environment and competition producers of machine tools have changed their strategy for delivery of their products to customers. The main issue is not only to deliver a machine tool as such; supporting instructions related to the technology of the cutting process on the machine tool are of great importance. When taking delivery, the customer can see a new machine tool that will produce by him specified work piece with a desired accuracy. In the proposed thesis, a development of a novel methodology of measuring vertical lathes for prediction of chosen geometrical parameters of work pieces is introduced. The main goal of this work has been to determine the influence of the geometrical accuracy of selected design groups of a vertical lath on the future geometric accuracy of the work piece. The proposed methodology has been developed and verified on a selected vertical lath SKIQ30 produced by TOSHULIN, a.s. For identification of chosen parameters of the vertical lath a measuring system using latest measuring technologies has been applied. The basic tool for measured data processing has been a set of statistic methods for prediction of behaviour of measured design groups of the machine. The foundation for statistical processing has been calculation of geometrical deviations obtained from algorithms designed for proposed measurement methodology. The proposed measurement methodology for vertical lathes has been divided into two parts. In the first part, the methodology of measurement and evaluation of linear axes is solved, where a measuring system Laser Track has been used. The employment of the system Laser Track turned out to be very suitable. Conclusions related to the accuracy of the measuring device have been drawn in the thesis. The second part of the proposed methodology is represented by observation and description of the rotating disk, where non-contact position transducers have been used. In the course of the doctoral dissertation it has been observed that the studied (with respect to the geometry) behaviour of the machine is significantly affected by the cutting conditions. To these belong the loading of the rotating disc by the mass of the work piece, angular velocity of the rotating disc and the operating time of the machine. Based on these observations it can be stated that for prediction of work piece features it is essential to know the behaviour of the machine tool in the whole range of the operating speeds and loading of the rotating disc. A part of the proposed methodology for measuring vertical lathes seems to be very suitable for a design of a diagnostic system that could be applied on large rotating disc. Furthermore, it is recommended to extend the doctoral thesis in order to develop a unit for compensation of geometrical errors on rotating discs of vertical lathes.

由於可攜式行動裝置近年來快速成長，隨著行動裝置與地理資訊的結合發展出的適地性服務 (Location-Based Service, LBS)，也呈現越來越多的應用方式。LBS最基本的功能為定位，定位精度好壞也影響著LBS的應用面，越高的定位精度應用面越廣。常見的定位方式便是用GPS導航定位，但是在都會地區越是繁榮的地方往往過多的建物使衛星訊號被阻擋，導致GPS的定位會受到影響，造成平面誤差量會在15公尺以上，或是無法定位。利用都市區域有Wi-Fi訊號分布的特性，藉由區分不同的Wi-Fi訊號來源與接收強度，做出定位判斷，可以使原本GPS無法定位的區域，也可以利用Wi-Fi訊號來做定位。本研究嘗試使用高感度GPS接收器，在建物周邊定位，及在GPS無法運作時使用Wi-Fi訊號來做定位依據，提高整體的定位成功率，並嘗試利用Wi-Fi定位與GPS協同運作來提高整體精度。Wi-Fi定位採用訊號紋辨識法，欲使用訊號紋辨識法必先建立Wi-Fi訊號資料庫，包含地理坐標與對應的訊號來源與強度分布。實驗區為政治大學山下校區綜合院館四周面積約1.76公頃區域，模擬被遮蔽狀況下的GPS導航定位精度，配合Wi-Fi定位來輔助GPS定位結果。結果顯示利用兩種定位系統，可使平面平均定位誤差小於10公尺，高程平均定位誤差小於1.5公尺。 / The positioning accuracy is an important issue for Location-Based Service (LBS). LBS has many products, and its applications are usually based on Global Positioning System (GPS), because GPS navigation has been very mature. GPS has a typical outdoor positioning error of up to 15 meters for civilian users. Hence it has become a viable method for civilian to carry out coarse positioning. However, it has its shortcomings. GPS is available only in outdoors with a clear view of the sky. Since Wi-Fi (Wireless Fidelity) has become another positioning technology which is capable of performing positioning in indoor environments and urban canyons. Wi-Fi positioning is using fingerprinting in this study. This study is desirable to integrate GPS and Wi-Fi positioning technologies for ubiquitous positioning. The related issues of Wi-Fi/GPS technologies, such as database quality, analysis of algorithms, and database processing procedures were studied. Test data sets from National Chengchi University (NCCU) campus will be used to test the proposed algorithms. By using those two positioning system , it is revealed that the positioning accuracy made at the test sites resulted that the 2D coordinate average error is less than 10 meters, elevation positioning average error is less than 1.5 meters.

本研究は,双腕で作業プレートを支持することで閉リンク機構を構成し,作業プレートを操ることで十分な支持剛性を維持しながらプレート上での柔軟な作業空間を実現することを目指した.すなわち,ロボットでも従来の工作機械のNC制御の運動精度に近い性能を具現化する一方,人の作業に近い柔軟性を両立することであるその対象としてプレート上で球の転がりを取り上げ,その運動軌跡をコンピュータシミュレーションにより解析しながら,同時2軸の旋回運動の制御におけるその誤差解析およびその改善手法を確立する. / Recently, industrial dual-arm robots have gained attention as novel tools and we therefore focus on them to flexible control both the linear motion and the rotational motion of a working plate. However, it is difficult to measure the synchronous accuracy of two rotary axes without high accuracy gyro sensor. Thus, we proposed a novel method to measure it with a ball, which keeps a ball rolling around a circular path on it by dual-arm cooperative control. As a result, we demonstrated this method made it feasible to estimate the synchronous accuracy of two rotary axes of working plate. / 博士(工学) / Doctor of Philosophy in Engineering / 同志社大学 / Doshisha University

Актуальность темы исследования: обусловлена потребностью в оптимизации процесса транспортировки длинномерных грузов мостовыми кранами с двумя тележками, в повышении точности позиционирования длинномерного груза в месте его назначения с помощью мостового крана с двумя тележками и во введении системы управления с самостоятельным устранением перекоса длинномерного груза. Цель работы: разработка систем управления двухтележечными мостовыми кранами, предназначенных для точного транспортирования длинномерных грузов с возможностью самостоятельного регулирования и устранения перекоса груза. Провести анализ факторов, влияющих на точность перемещения длинномерного груза и представить меры по их учёту в процессе транспортирования груза. В ходе работы были рассмотрены существующие способы согласования работы двух и более кранов, разработаны системы управления двухтележечным мостовым краном с возможностью самостоятельного устранения перекоса груза, представлены факторы, влияющие на точность позиционирования груза и предложены способы учёта некоторых факторов при перемещении груза в место назначения, а также разработаны системы управления тележками и лебёдками двухтележечного мостового крана, учитывающие величину прогиба металлоконструкции крана и растяжения грузового каната при задании величины вертикального перемещения груза. В процессе работы над магистерской диссертацией была оформлена приоритетная заявка на патент на изобретение №2019109823 от 03.04.19г «Двухтележечный мостовой кран» (система представлена в пункте 2.2 данной работы). Также отправлены две заявки на государственную регистрацию программы для ЭВМ «Программа расчёта деформации пролётной балки двухтележечного мостового крана» (Приложение Б) и «Программа расчёта деформации грузового каната» (Приложение В) в среде программирования Borland Delphi. ВКР была отправлена на конкурс Discovery Science: University-2019 и заняла там первое место в номинации «Практический проект». Наградной диплом представлен в Приложении Г. Объём пояснительной записки – 91 лист и 21 листа графических документов. Работа состоит из введения, пяти глав и заключения. Список литературы содержит 16 источников. / The relevance of the research topic: due to the need to optimize the process of transportation of long loads by bridge cranes with two trucks, to improve the accuracy of positioning of long cargo at its destination with the help of a bridge crane with two trucks and in the introduction of a control system with independent elimination of skewing of long cargo. The purpose of the work: development of control systems for double-axle cranes, designed for accurate transportation of long loads with the possibility of self-regulation and elimination of cargo misalignment. To analyze the factors affecting the accuracy of the movement of long cargo and to provide measures for their accounting in the process of transportation. In the course of the work, the existing methods of coordination of two or more cranes of the designed control system of bridge cranes with trucks with self-removal from the misalignment of goods were considered, the factors affecting the accuracy of positioning were presented and the methods of taking into account certain factors when moving the cargo to the destination were proposed, and a control system for trucks and winches of bridge cranes with trucks was developed. counts the amount of deflection of the steel structures of the crane and the tension of the hoisting rope when you set the value of the vertical movement of the cargo. In the process of working on the master's thesis was issued a priority application for a patent for the invention №2019109823 from 03.04.19 g "bridge crane with two trucks " (the system is presented in paragraph 2.2 of this work). Also sent two applications for state registration of the computer program "Program for calculating the deformation of the span beam of a two-track bridge crane" (Application B) and "program For calculating the deformation of the cargo rope" (Application C) in the programming environment Borland Delphi. Dissertation was sent to the competition Discovery Science: University-2019 and took the first place in the nomination "Practical project". The award diploma is presented in Application D. The scope and explanatory notes – 91 sheet 21 and the sheet graphical documents. The work consists of an introduction, five chapters and a conclusion. The list of references includes 16 sources.