What is the TRICEPT?
The TRICEPT is so far the most successful modular hybrid Parallel Kinematics Machine (PKM) including 5 (or 6) axes controlled by a Siemens 840D (or ABB IRC5) control, counting for more than 300 units installed worldwide at a number of different applications ranging from robotics assembly to hard metals (steel - titanium) drilling and milling.
What is a Parallel Kinematics Machine (aka PKM)?
A Parallel Kinematic Machine (or a Parallel Manipulator, or a Parallel robot) is a mechanical structure where its links are acting in parallel, in cooperation, rather than "one over the other" as in Serial Manipulators or Articulated Robots. Take for example the way your fingers work together when you write on paper. In this case your fingers work in parallel, as a Parallel Kinematic Machine would do. For a more technical definition check the following Link: http://en.wikipedia.org/wiki/Parallel_manipulator Benefits of PKM are their high accuracy, rigidity and speed, along with a large load carrying capability. The tripod in the TRICEPT is a PKM.
What is a Serial Kinematics Machine (aka SKM)?
A Serial Kinematics Machine is a Serial manipulator with often anthropomorhic mecanical arma structure. Under this configuration are built most common industrial robots. For more information follow the following link: http://en.wikipedia.org/wiki/Serial_manipulator
What is a hybrid PKM?
A Hybrid PKM is a Parallel Kinematics Machine structure that has been "put together" with a SKM module. The TRICEPT is a hybrid PKM, having two main parts. The tripod, formed by the 3 actuators and the central tube, and the sperical wrist. The tripod is a pure PKM structure, while the spherical wrist is a pure SKM structure. Combining together a PKM structure in the tripod with a SKF structure in the wrist combine the best characteristics of both PKM and SKM worlds: On one hand the TRICEPT benefit of a high accuracy, stiffness and speed, while its work envelope is much wider than the machines based on pure parallel structures. The main difference is noted in the tilt angles achievable by the TCP. While in PKM machines is only of a few degrees (normally máximum +/- 30º), in TRICEPT you can get +/- 360º in axis 4 and 6, and -5/+180º in axis 5.
What is the DMS? Can you do without it?
DMS stands for Direct Measurement System. The DMS is a double measuring system installed in the central tube of the TRICEPT, allowing to measure very accurately its two rotations around the upper gimbal and the longitudinal displacement along the central tube. The DMS system is normally always activated and confers the TRICEPT with extra accuracy and stiffness compared to any other PKM (hybrid or not) in the market. It can also compensate for external static or dynamic loads (for example at machining) and at temperature changes. The DMS permits the TRICEPT to reach its high level characteristics . The DMS system is patented and can only be used in TRICEPT machines.
How does TRICEPT compare to robots or CNC Machine Tools?
Industrial robots are normally built with a "link over link" design (SKM). The benefits of these articulated mechanisms are based on their flexibility and and ability to transport loads between points within a reasonably large work area. Their bigger disavantage is in the fact that the moving load is supported in turn by each of the links of the robot. This is the reason why industrial robots are usually characterized by low accuracy and low rigidity. CNC Machine Tools are also SKM machines. However, they have a very high requirement for both accuracy and rigidity. In order to achieve such requirements with a SKM structure, CNC Machine Tools are usually designed with very large masses added to each moving axis. At this point accuracy and rigidity are obtained, but flexibility and dynamics are lacked. TRICEPT combines both high flexibility and accuracy with an acceptable rigidity and dynamic response. This can be done because the parallel structure of the tricept permits that the load applied to the TCP can be supported in parallel by the legs of the TRICEPT, distributing the load to be supported in a more adequate way. Not needed so massive masses to move itself dynamics can be improved.
How does TRICEPT compare to other PKM?
TRICEPT has a bigger work envelope and bigger orientation capabilites at TCP that pure PKMs. Follow link: "What is a Parallel Kinematics Machine (aka PKM)". Compared to other hybrid PKM, the main difference with them is the DMS feature included in the TRICEPT. Follow link: What is the DMS? Can you do without it?
I have a TRICEPT module, can you help me?
Sure, check our TAS and Aftersales offers for you.
I lost contact with SMTTRICEPT AB or NEOS ROBOTICS. Can you help?
We can help you with anything related to your TRICEPT robot. From SPARE PARTS or MAINTENANCE, to SERVICE or TRAINING. Check our webpage for more information.
I have a possible application for TRICEPT. Can you help?
Sure. We can help our CUSTOMERS to find the right solution using TRICEPT through our SIMULATION CAPABILITIES and TEST MACHINES. In case you would like to become our AGENT or a TRICEPT INTEGRATOR, contact us for more details.
What applications are TRICEPS installed in?
TRICEPTs have been installed in an endless list of applications. Some of the most important are: Structural Machining Automotive (BMW, PSA, GM, Volvo...), Structural Machining Railroad (ALSTOM), Structural Machining Aerospace (AIRBUS, BOEING, SPIRIT AEROSYSTEMS, ...), Friction Stir Welding (BOEING, GKSS, RIFTEC, ...) among others. Please, check our webpage for more information.
Are TRICEPT actuators pneumatic - hydraulic?
TRICEPT machines ALWAYS use electromechanical actuators with ball or roller screws on them. So, the answer is NO, they are not pneumatic or hydraulic.
Can I use other controls apart from Siemens 840D?
Other controls can be used with TRICEPT. For example module T600 used the COMAU controller. This version is discontinued for new machines, but PKMtricept still provides SPARE PARTS for it. T606 robot is controlled under the ABB IRC5 controller. For the rest of the modules, T80X, T605 and T9000 Siemens 840D control is used. At this moment no other controller has been developed for TRICEPT.
How can I simulate with TRICEPT robot?
There are commercial softwares that include the TRICEPT machines as part of the list of equipments that can be simulated. Among them: VERICUT, IGRIP, EASYROB 3D, NC SIMUL, and so on.
Which is the best TRICEPT version for HSM Aluminium?
For high rate material removal and high accuracy at milling aluminum the T805 is the killer. For some applications the T60X can also be enough. And if you are looking for even more flexibility to eventually machine steel or titanium, the T9000 should be recommended.
Do you have any AGENT / INTEGRATOR in my country?
Please, contact us so we can evaluate your need and give you the best answer.
Which end effector / spindle can I use with TRICEPT?
The one you like most. Tricept can be adapted to accept any spindle of your choice. There is no general restriction for this. Please, contact our engineering department for your spindle selection and we will make the TRICEPT to handle it.
I have an old T805 v2.34 version. Can I upgrade it?
Yes you can!. There are in fact two options. You can upgrade to the v2.35 version, or you can go to the latest T805 TMHD, benefiting yourself of the latest technology at direct driving. Stiffness and accuracy will also benefit from this change. Please, contact us for further details.