l n t J Mach. Tool Des Res.

\ o l Printed in Great Britain

2 1 No 1. pp 23 4,0. 1981

0020-'~35 "~ 81'01 0023-18 $ 0 2 0 0 9 Pergamon Press Lid

A STUDY

OF THE

STATIC STIFFNESS TOOL SPINDLES

OF MACHINE

YANG SHUZI*

(Receize,t 15 Ma) 1980: in ~nalform 3 September 1980}

Abstract--A thorough discussion about the radial stiffness of machine tool spindles is made. The concept of "influence factors" in mechanics is employed to study the effects of a number of factors on radial static stiffness, e.g. the structure of spindles and their parameters, especially the number of bearings (radial and thrust bearings) and their mounting positions. The graphical method has been used for determining the optimum span of a spindle mounted in two or multiple bearings. The direct and indirect influence factor methods for calculating the reaction of any bearing and the displacement of any position for an elastic beam possessing many elastic bearings have been developed Isee Appendix 2~ and used for analysing a spindle mounted in two and three bearings. Problems of uncoaxiality of the housing holes for a spindle possessing many elastic bearings have also been studied.

INTRODUCTION

STATIC stiffness of spindles is one of the important performances of machine tools. Hence it must be correctly defined and the structure and related parameters of spindles must be properly determined. The concept of "influence factors" in mechanics is made use of to discuss the definition of static stiffness (referring to radial static stiffness throughout this article) and to minimize the displacement at the spindle-nose Y~ in the selection of the structure and related parameters.
I. D I S C U S S I O N O N T H E D E F I N I T I O N O F S T A T I C STIFFNESS OF THE SPINDLE

Stiffness of the spindle is defined as its ability to resist deflection under the action of cutting f,-: co. In general, "correlation stiffness" is used as the definition of static stiffness of the spindle : ~ ~. ! 2]. As is shown in Fig. 1. when a force exerted on the spindle-nose is P, the displacement .,t ti',c spindle-nose in the same direction as that of P is Y," and correlation stiffness is defined as J~ = P/Y~. The advantage of this definition is that the magnitude of the displacement of the spindlenose which is just where the cutting forces are transmitted to the spindle is directly related to machining accuracy. And this definition, while dependent on the structure of the spindle, is independent of the manner in which the workpiece or tool is mounted, making it possible to make a comparison between spindles of different structures. The reciprocal of stiffness 1/J~ is generally called softness. By the "influence factor" is meant the displacement produced at point i by a unit load at point k in an elastic system. If the load is a force and the displacement is a linear or angular one, then the influence factor is designated as ~tia or ,Sik. If the load is a couple moment and the displacement is a linear or angular one, then the influence factor is designated as 7~kor fiik. Obviously, ifi and k are both located at s, then a~ is 1/JV~and Y~ = P~t~. However, during the operation of the spindle the displacement at the spindle-nose is caused not only by force P, produced by cutting force and exerted on the spindle-nose, but also by couple moment M, produced by cutting force and exerted on the spindle-nose, and by driving force Q, produced by cutting force and exerted on a certain point of the spindle. The displacement at the spindle-nose caused by M and Q are y~t = M;'~, and Y~ = Qa,Q respectively, because now for ;'ik i and k are both located at s, for ~tik,i is located at s and k is located at the point on which Q is exerted.

* Associate Professor, Huazhong Institute of Technology. Wuhan. the People's Republic of China. 23

24

Y , o SHtZI

_{s

FIG. 1.

It can be seen clearly that :%. 7, and ~,(2 all depend on the dimensions of the structure, the properties of a material, the bearing stiffness, etc. The result of defining the static stiffness of the spindle by only considering P while neglecting M and (2, and by making a study of ~t, while giving no attention to 7~s and %Q is often an incomplete definition. This is because the structure and parameters selected only in accordance with %, may result in inappropriate structure and parameters under the action of M and (2, e.g. the inappropriateness of position of the driving elements may lead to too large a displacement at the spindle-nose. However, during the operation of the spindle, the ratios of magnitudes of P, (2, and M to each other vary with the variation in machining performed. Furthermore, the three are not on a plane, so the sum of displacements at the spindle-nose produced by them, i.e. the vector sum Y, = P0t,s + M),, + Q0t,e varies in magnitude and direction. The component of Y, in the sensitive direction (i.e. the direction which exerts a decisive influence on machining accuracy) varies too. Thus, from the relationship between Ys and P. M, (2, it is difficult to describe the static stiffness of the spindle by J~ alone. It will also be difficult to find a definite function between Y~and :t,s, ";s,.~tse.That is to say, it is generally impossible to choose a kind of spindle such that %~. 7,. and ~{2 are determined by its structure and parameters will make Y~ minimum under any condition. Under the action of P. M, and Q, ofcourse, Y, can be made as small as possible. In order to do so. efforts must be made to minimize ~ , ;'~, and ~,o respectively as well as to make the

_1

Pc~' tv~
ip

e.-~v,
"---.~ v E) t
i

iP
F i

(l+o

c72

_ ._E_cp 8,- C2/2

FJ(.;. 2.

Stalic Stiffness of M a c h i n e

Tool

Spindles

25

o -

JIJ

o~o~oo
d

"

",

ja~

;1o

oa

o-t-o
h 0

Od

-8

26

YANG SHL'Zl

components of Y~, Y~, and Y~ partly offset each other in the sensitive direction. (This also depends on the selection of ~ , 7ss, and ~,~Q).Briefly, the study of the static stiffness can be boiled down to the finding of the influence factors at the spindle-nose under different conditions and to make them minimal. This is the purpose of this article. The so-called Maxwell's Reciprocal Theorem ~k = aki, flik = 7ki, 6~k = 6k~ are repeatedly made use of in this article. As it is the author's intention to discuss shear in a future work, this topic is not included herein in spite of its significance with short spans between multiple beatings.
II. S T I F F N E S S O F S P I N D L E S M O U N T E D IN TWO B E A R I N G S

Spindles mounted in two bearings are roughly divided into four classes, namely: (1) those without driving force Q (i.e. the so-called unloaded spindles); (2) those with force Q exerted on the overhang ; (3) those with force Q exerted on the protruding tail ; and (4) those with force Q exerted on the span between two beatings. Relevant formulae are found in Appendix 1. For an unloaded spindle acted on only by force P, the influence factor at the spindle-nose is
a3
la 2

1 (~)2

1 (a)2

where a : length of overhang, /: bearing span, E: elastic module of material, I a : area moment of inertia of overhang, I: area moment of inertia of span between bearings, C~, C2: stiffness of front and rear bearing respectively. Obviously, as shown in Fig. 2, under the action of a unit force, the first term of equation (1) is the deflection of the overhang beam at its nose; the second is the displacement at the spindle-nose produced by deflection of the simply supported beam; the third and the fourth are displacements at the spindle-nose produced by deflection of the front and rear bearings respectively. These four displacements are all in the same direction. In order to increase the stiffness of the spindle, it is evident from equation (1) that the stiffness of the bearings, in particular that of the front bearing, must be as great as possible, the area moment of inertia must be as large as possible and the overhang length as short as possible while the bearing span must have an optimum value lo. This means that if other parameters are the same but I = I0, then ~ss is minimal. Figure 3 is designed according to d~s~/dl = 0 to find lo when I, a. C~, and C2 are given. Here k l = I/D, k~ = C1/D, ka = a/D, I = ~D 4 64 mm -'~, and k, is calculated in such a way that the units of C 1 and D are 10 N ~ m - ~ and mm respectively. For example, for the spindle of a lathe, ifCl = 1500 N ~m- 1, C2 = 700 N #m- 1 D = 88 mm, a = 1 1 8 m m , t h e n C 1 / C 2 = 2.14,k~ = 1.34,k~, = 1 . 7 1 . H e n c e f r o m C ~ / C 2 a n d k ~ , w e c a n get a point in the first quadrant, from k, and k, we get a point in the third quadrant and from these points we get kl = 2.65 in the second quadrant as shown in Fig. 3. Thus lo = k~D = 233 mm

-1- _is
c= ---"

FKL 4,

Static Stiffness of Machine Tool Spindles

27

-I

I-_.s Y~

~
FK;. 5.

_1_ o..l i

Compared with graphs of absolute values of parameters this graph of relative values is simpler, more practical and shows a wider range of parameter variation. When the unloaded spindle is acted on only by M (Fig. 4), the optimum value 10 can also M be found from Fig. 3 ; if only from the third to the second quadrant the abscissa k~k~, is multiplied by 2. Obviously, lo < 1o. m When the overhang is acted on only by Q (Fig. 5). the optimum value lg can also be found from Fig. 3 ; if only from the third to the second quadrant kakc, is multiplied by 2bf/(a + bt). Because bt < a, l~ > Io. If we only consider force Q acting on the protruding tail (Fig. 6), we can see that the displacement at the spindle-nose produced by the deflection of the spindle and that produced by the deflection of the bearings are opposite in direction and that they can be offset by each other if the parameters are properly chosen. If 1is equal to an optimum value l~, then :(~(2 = 0. Now, 1~ can also be found from Fig. 3 if only k,k,, is multiplied by [1 +(aC1/bbC:) ]. Obviously, when l = to, we can calculate the optimum value of bb from Fig. 3. Under the action of P [2], when l = /o, the tail is parallel to the original axis, i.e. =es = a/C21. (Here :tQ, is equal to the influence factor at the rear bearing 0(2,.) Thus, we have =so = a e, = a/C21 regardless of the position of Q. When I < l o, the tail will tilt up, therefore, the greater b b the greater ~,o will be. When I > lo, the reverse is true and the tail will intersect the original axis at a point, i.e. ~t,(2 -- 0. This point is called node j. When force Q is exerted on

bb i

_] a ~}

i-/
'Q

e = Qb~',

'O

6E

C2~2

FIG. 6.

28

YANG SHUZI

e,
QIL-b ~ m

Obm(21 - b~IIl- bin) 6EIL

oi
]

e2" ~

~
FIG. 7.

e~ ' e' '~

q=

654

OP

02

04

06

i KC~

8 ~0

2o

FK;. 8.

Static Stiffness of Machine Tool Spindles

29

FIG 9.

node j, ~so = 0. The equation :cso = 0 is just what has been used to find the optimum value ofl or bb. If force Q is exerted on the span (Fig. 71. the displacements at the spindle-nose due to the deflection of the spindle and the rear bearing and that due to the deflection of the front bearing are opposite in direction, so they can be offset by each other. If the parameters are properly chosen, then a~o = 0. However, when I = 1o. the optimum value of bin can be chosen from Fig. 8, in which q = lo/a, k b = bm/D. For example, if C1 = 1700 N / a m - 1, D = 88 mm and I = l0 = 233 mm, then we can get k b = 0.7, thus b m = kbD = 62 mm. When I ~ Io, we can find kb from a corresponding graph (see 15]). It is clear that when choosing the parameters, the effects of P, M, and Q must be considered as a whole so as to make Y~, Yy, and y O partly offset each other, This is even more important in the sensitive direction, e.g. the horizontal component of cutting force (P,) and that of driving force (QH) exerted on a lathe spindle are generally opposite in direction (Fig. 9). If force Q is exerted in front of node j. then =~s is opposite to :~,e.
llI. STIFFNESS OF SPINDLES MOUNTED IN M U L T I P L E B E A R I N G S

It is noted that the addition of bearings has two effects. One is the effect of the force of reaction R due to addition of radial bearings on the static stiffness of the spindle, the other is that of the reaction moment Mc due to the addition of thrust bearings If both the force of reaction and reaction moment are produced by a single bearing simultaneously, then this bearing can be regarded as a radial and a thrust bearing save that they are located in the same position.

777"

(C:

p !

FI6. 10.

30

YA .,,;G S H t Z l

~2
i

I
IO0

I
200

I
300 lt,

P
mrn

[
400

J
500

J
600

I,
~ C 9

8
7 z "" 6

3 2
i

; 0

1 ~OC

'

I 2~C

' 300 Lt,

. 40C

500

I 600

mm (b)

07 o6 O~ C~ c3 02 O~
0 IO0 200 30C ll~ rnrr ()
2B

40C

500

60C

200

300

400

500

600

It, (d)
F I G . 1 I.

mm

The calculation of a beam mounted in many bearings involves the calculation of the reaction of bearings and the influence factor in an arbitrary position of the beam. By the application of the physical concept of influence factor we have proposed two calculating methods and derived corresponding calculating formulae (see Appendix 2). From them the

32

Y,,,NG SHL'Z!

~o,
- -

08

04

02 C, -02 -06 "0 e

; 20C

'F \
L.:. turn (o) 3,9~ 25C

2~C

q3C

~C' 100 20C 30C 40C 50C' 60C" 70C 80C 90C 1000 LI rrlm (b~ 06 O5 04 O3 ~"~ 02

0 -02 -03

206 ~

7~

90C IO00

Ic)

06 C5 04
,o
03i

02 ~

; I I I I ~OC 2O0 300 400 500 600 ?00 806 900 K)O0
LI, m m

FIG. 12.

~
2

l
FIG.

kw

,~C
I

13.

Static Stiffness of Machine Tool Spindles

31

following formulae and conclusions are obtained. The number "3" after the subscript of an influence factor will hereafter be understood as representing the number of bearings (not including the thrust bearing) as is customarily done. (1) The spindle mounted in three bearings Under the action of P, we have

R~ =
where

a~____z_~ .p,

S i "4- ~ii

(2)

Si: softness for the ith bearing, S = I/C~ R?: the force of reaction for the ith bearing ~t~ 3 = ~% - - "~tsi Si + r'ii
~is

(3)

where R,P, ct,s, ~tii,cq,, cqi are determined when there are only two bearings and no bearing i. The effect of increasing the third radial bearing is ~q~. 3 < ~qs. Because 0qs = a~, S~, r~i~,and cqs are positive, hence the two terms on the right-hand side of equation (3) are both positive and the difference between them is of course less than ~ts~' cqs. a = ~q~only when cti, = 0, i.e. the third bearing is mounted at node j. Optimum span. In general, to make ~%. 3 minimal, we have to find I and 11 from ~q~. a/~l = 0 and ~qs. a/?l 1 = 0 where 11 is the span between the front and middle bearing. Analysing equation (3) we know that if the middle bearing is replaced by the force of reaction R~ (Fig. 10) and 1 = 10, or if the rear bearing is replaced by R$ and 11 = Io, then ~qs will be minimal. Because ~t~J(Si + ~ti~)is always positive or zero (when ~ti~= 0), ~q~. 3 remains small. We may take a spindle mounted in three bearings (11 = 375 mm) of a lathe as an example, whose ~%. a is reduced by more than 36o as compared with cq~ of the spindle without the middle bearing. If/1 = lo = 233 mm, then ~ 3 will be reduced by 42~.~as compared with aq~. If/1 = 200-275 mm, then ~s. 3 will change only insignificantly as shown in Fig. 11, in which ~t~2 is $2 + ~t22.If the span between spindle bearings C1 and C2 is taken as l0 = 233 mm and span l, between the third bearing C3 and front bearing C1 is varied, then it is clear from calculation that the third bearing has little desirable effect on the static stiffness. If the third bearing is mounted behind bearing C2, then the effect on stiffness steadily decreases. If the span between C~ and C3 is over 500 mm, then there is scarcely any effect, as shown in Fig. 12. Hence the evaluation of spindles mounted in three bearings under the action of P should be made from two angles. (1) If the span between the front and the other bearing is Io, then the effect of the third bearing on static stiffness of the spindle is insignificant, especially when the third bearing is a rear one. (2) If l is much greater than lo, then the effect of adding the middle bearing and making 11 equal to Io which corresponds to the front and middle bearing is extremely significant. Besides, the shorter the overhang, the larger the area moment of inertia and the greater the bearing stiffness, the smaller a,~. 3 will be. It should be pointed out that the greater the stiffness of the bearings, the greater their reaction. And R~ is always opposite to P and greater than R~ and R~ [2, 7]. If all Ci's approach infinity and 11 approaches zero, then aq,.3 approaches aa/3El,, i.e. the spindle has become an overhang beam with a fixed end, and ~q~. 3 will be minimum. Under the action of M and that of Q exerted on the overhang, we generally have y**. 3 < )'~ and aqQ. 3 < ~qQ respectively (see Appendix 2). If Q is exerted on the span or the tail, then compared with %Q, cqQ. 3 may be greater, smaller, zero or of opposite sign. Hence, what should be done is either determine the position of the node by ~qe. 3 = 0 or find the position where the absolute value of~qQ. 3 is minimal by graphical method.

Static Stiffness of Machine Tool Spindles

33

(2) The spindle mounted in two bearings acted on by reaction moment As mentioned earlier, ifa bearing can produce force of reaction R and reaction moment M~ simultaneously, then the bearing can be regarded as a radial and a thrust bearing located in the same position. Thus, taking this into account a reaction moment is equivalent to adding a thrust beating W. Under the action of P (Fig. 13). we have M~ = k. + ~... P (4)

k. + 6,,,,,
where M is the reaction moment of the bearing W, ass, fl,,,,, "A.., 6.,. are determined when p beating W is replaced by its reaction moment M,, and k.. is the angular softness of bearing W. Effects of Me, Because 13..s = "A.. ~Mc < :q,, And when fl.~ = O, ~'~c = ~s~. i.e. the thrust bearing is mounted where the angular displacement is zero. -~ Optimal position of the thrust bearing, Let c ~MC,A e = 0 or /c

.(
C " ---

/ ..ce =

o,

then we can find the optimum value of e to minimize ~t~c. As the thrust bearing is generally mounted near a radial bearing, we must investigate B:,,J(k,. + 5,,~.) near both ends of the interval [0, 1] while e varies and the following conclusions are formed: (1) when the bearing W is mounted between the front and rear bearing, it is advisable for W to be somewhat apart from the one or the other ; (2) when bearing W is mounted beyond either the front or the rear beating, it is best for W to be close to the one or the other. Now let us compare the effect of bearing W mounted in the front bearing (e -- 0) with that when it is mounted in the rear beating (e = 1). It is known from the formulae of influence factor that fll~ > fl2s- bll -- 52: and k 1 <~ k 2. Thus we have
fl~s./(kl + 611) > fl]s./(k2 + ~J22), Ctss' < ~t'ss'.
M ~.t*

This shows that the effect of e = 0 is better than that of e = I. When e = l = lo, fla, = 0, that is to say, bearing W mounted in the rear bearing has no effect on static stiffness. If we substitute formulae for ills and fl:~ into the above formula, then we have

(~ + G I

k2+62:/:k~ +G1

>

7500

This is in conformity with experimental results given in Ref. [11] which shows that Y~ of the spindle of a lathe with a thrust bearing compared with that of this lathe spindle without the thrust bearing will be decreased by 25-35% when the thrust bearing is mounted in the front beating and by 6?,o when it is mounted in the rear bearing. The relative difference between 25 and 35~, and 60 is 76-83%. It is worthwhile pointing out that the force of reaction of the front and rear bearing due to reaction moment M~ of the front bearing is opposite to that due to P. This is beneficial to beating operation. In general, M, is taken as ~ Pa. Some investigators often use ~ = 0-0.35 proposed in Ref. [8] without making any analysis. As shown in Appendix 2, we can say that when the angular softness of the thrust bearing is small enough, c'~ can even be greater than 1. When f~ --* 1, C, --* oc, nu, -., a3/3EI,. Hence, when C~ and 1./k~. are both large enough, ~qs will M~ approach the influence factor at the unfixed end of an overhang beam, and is almost independent of l, C2 and I. ,~ Generally, under the action of M. ,,M~ < )'~. It is also more desirable for bearing W to be located in the front than in the rear bearing. In M~ = ~ M, the maximum value of ~ can approach 1. IfC~ and 1/k I are both large enough, then ),~' --* a:/2EI, (the influence factor at the unfixed end of an overhang beam).

34

Yi~,xo Smzl

Just as in the analysis of the spindle mounted in three bearings, the action of Q exerted on the overhang is similar to that of M. When Q is exerted on the span or the tail, either M"c determine the node by %o = 0 or find the minimal absolute value Of~sQ graphically. It must M, be pointed out that if Ca and 1/k~ are both large enough, then ~ ' ~ 0. The results obtained for the spindle mounted in three bearings acted on by reaction moment M, are similar to those discussed above. lV. THE EFFECT OF UNCOAXIALITY OF BEARING HOUSING HOLES For a spindle mounted in many bearings, when it is known that the ith bearing hole is deviated from the axis through the centers of two basic housing holes by Ai. we can find the bearing reaction of the spindle (see Appendix 3). For a spindle mounted in three bearings, we have

R~ = - Ai/(S i + ~ii) (when M~ is neglected). [~i~l=--[ kv''~6~v*')' i',

Si fl'~+ a~iJ]-~ [01Ai (when M'~ is nt neglected)'

It is clear that R~ and M,~ are both proportional to Ai. If any C~ is equal to zero. then R~ = 0, M~ = 0. Thus, as long as the span between the front and one bearing is taken as Io under the action of P, and the diametral clearance of any other ith bearing is no less than 2A~, the static stiffness of the spindle is great. And little will the static stiffness change when all other bearings are working under the action of P. V. CONCLUSIONS (1) Relevant structure and parameters must be properly chosen by considering the effects of P, M, and Q at the same time according to particular conditions. (2) Shortening the overhang, increasing the area moment of inertia of the spindle and the stiffness of the front bearing are effective measures of enhancing the static stiffness of the spindle. (3) Whether or not the static stiffness of a spindle can be improved by increasing the number of bearings depends on whether it is P, or M, or Q that is exerted on the spindle. For the case of P being exerted, it will be increased (at least not decreased) : for the case of M and that of Q exerted on the overhang, it will in general be increased : while for the case of Q acting on the span or the tail, it can be increased or decreased, or it may remain unchanged. (4) The span must be properly chosen. For the case of P, as long as the span between the front and one bearing is chosen as an optimum span, the spindle will have considerable stiffness and the effect of the third bearing is insignificant. (Here the optimum span refers to the span of a spindle mounted in two bearings.) I f / i s much greater than the optimum span and a middle bearing is used with 11 approximately equal to the optimum span, then the static stiffness will be greatly increased. (5) It is much more desirable for the thrust bearing to be mounted in the front than in the rear bearing. If C1 and 1/k 1 are both large enough, then the influence factor of the spindlenose approaches that of the overhang beam with a fixed end no matter whether the spindle is under the action of P, or M, or Q. REFERENCES [1] Machine Tool Teaching and Research Group of Huazhong Institule of Technolog)..'~lachme Tool.~ (textbook} (1973). [2] YANG SHL'ZI, An analysis and calculation of the static stiffnessof machine tool spindles. J. Huazlumq Inst. Technol. 6(I). (1978). [3] YAgOSm'zk The effectof bearing reaction moment on static stiffnessof machine tool spindles. J Hu,+zhong Inst. Technol. Suppl. to "/(lJ, (1979l. [4] YANG Smzt, An analysis ofsome problems of uncoaxialit)of the housing holes in spindles mounted in man5 bearings. J. Huazhong Inst. Technol 7(4). (1979). [5] Yn,NGSHUTI.An analysis and calculation of the static stiffnessof the machine tool spindles mounted in two bearings. Machine Tools No. 3 (1979).

Static Stiffness of Machine Tool Spindles

35

[6] Y.`.'-,,SHt 71. An anabsis and discussion on the static stiffness of machine tom spindles mounted in three bearings. Machine Tools No. 9 (19791. [7] Dept. of Mathematics and Mechanics of Guangdong. Teachers" College and Guangzhou (Canton) Machine Tool Research Center's Hydrostatic Techniques Division, A calculation and test of the spindle mounted in many hxdrostalic bearinlzs. Machine Tool and Hydraulic Transmission No. 2 119781. [8] D. N. R'~tsHrTo\. The calculation of machine tool elements. Mashgi: (1945). [9] V. L. Vr'~ICH. V. K. DO',:DC~H~,XS~Iand V. E. CmRE~,YE\, Forced vibration of machine tool. Mashgiz (1959). [10] J. Kc~ H. Die "'Bezongene Starrheit"--Die Bestimmung der Hauptspindel yon Werkzeugmaschinen aufgrund einer Neuen Starrheitsbetrachtung. Maschinenmarkr 75(19)119671. [11] J. K~H. Axial Kugellager an Arbeitsspindeln. Maschinenmarkt 75119), (1969). [ 12] H. P~TrU~r~ and E. W~CHr. Laufgute ,,'on Werkzengmaschinen-spindeln. Werkst. Bert. W ien. 12, Heft 8 t1969 ~. [13] H. Rr<,.~da.Dynamic beha`, iour of machine tool spindles mounted in three bearings, Machinery and Production En~ti,eering 1241.3193k t 19741. [14] A N. B~,lqoxs~l and Z. M Lrx~'~,, Angular stiffness of thrust bearings of machine tool spindles and its influence on radial stiffness. 5~a~ki e Instrument No. 11 (19771. [15] R. ZD~qox'~c and V. Dt ~ty\sm, Die steifheit yon Werkzeugmaschinenspindeln unter Einwirkung der Arbeitskraft. |i'erkst. Betr H'ien. !1112). I19781.

APPENDIX

Betov, we shall der~xe formulae for spindles mounted in two bearings. For an unloaded spindle acted on only by' force P (Fig. 2), the displacement at the spindle-nose is

rr=e
Comparison x~i~h ),~ = P~,, yields

+9/7+ K

1+

<11

:g" = 3 E l . + 3E-~I + Cl

I ..e

+ Ca ~ / '

Let d:~,, dl = O,and denote a D b y k ,.I Db~. k~,C~ D b y k , a n d a s E = 2 10~ N mm-'~,l = r t D 4 64mm-'*.we have

k~ - 6k I k.k~: -

1 + C7. = O,

(31

~here D = a~erage diameter of span between bearings. According to equation 31. v,e have designed Fig. 3. For an unloaded spindle which is acted on only by couple momem ),1 (Fig. 41. the displacement at spindle-nose is
Y " = "q 2E-)~ 4- 3E--I + C , I" * ~--" .

{4~

Comparison ~ith Y~ = M;,, gi`.es

a"
Similarly. let d; .. dl = 0. `.~e have

la

;"" = 2EI~ + 3E--'-I+ C-'~'

I+ a t a 1" + C2 1:'

(5)

k~ - 6k~ 2kak ~

- -

--k

1 +

= 0.

16)

Comparing equation 16t v,ith equation (3 l. ~e find that only the coefficients in the second terms are different So. if only the abscissa k,k~ is multiplied b) 2. k~ can be found in the same v.ay as discussed previously. For a spindle which is acted on only by Q exerted on the overhang (Fig. 51. the displacement at the spindle-nose is

Cll a
Comparison with y o = Q:q0 gives

CfiZO

2~0 =

b? ( " -

~3 ~ + 3E-~llabf+

c-7

"+'''+b''+

abf

Similarly. let d:~,2 dl = 0, v,e ha`.e

k~-6k,

k,k,( 2b, "~ 6 ( l + C , ) = 0 . Xab,! - ( <

191

Comparing equation {91 ,ailh equation ( 3 I. we find that Fig. 3 can also be used to find k ~ if only k,k, is multiplied b3 2b~ la + bf). For a spindle v,hich is acted on only by Q exerted on the tail {Fig. 61. the displacement at the spindle-nose is

36

YA~G SHUZI

r/abb r~ = Q[-6EI
Thus.
:~o = 6E--I -

bb a 1 C~12 l l + a ) - Cfl-- (l+bb) 5

(10)

lab b

cblb/2 ( / + a l - ~ fa: ( l + b b ) . l

(11)

Let :t,Q = O, we haxe

6(
Obviously. ~'e can also find k I from Fig. 3 if only k,k,: is multiplied by 1/[1 + (aC~/bbC2)'l. For a spindle which is acted on only b) Q exerted on the span (Fig. 7), we have

~ = r abm

Thus,

ab=-I
+ cJ .3)

ab,, ,v<, = 6 ~ ( 2 / -

b=)(I - b m) - - ~

(l + a ) ( I - b = )

+ C2/~.

ab~

(14)

Let :(~(~ = O, / = /0 and denote b='D by kb. /o a by q. then according to equation (3), we have

I,'~ - 3kll,'2b~ + 3k~k~,. - V ( q + l ) = 0

from v, hich we can d r a b a graph as seen in Fig. 8.

(15}

APPENDIX

C o m m o n methods and formulae for calculating the bearing reaction and displacement in an)' position of an elastic beam mounted in m a n ) elastic bearings are derived as follov,s : (1) The direct influence factor method By this method, the beam mounted in many bearings is turned into one mounted in two bearings, and using the influence factors of the latter we can find the reaction of bearings and the influence factor in an arbitrar? position of the former directl3. In Fig. tl ), assume that the beam is mounted in n + 2 bearings and load L is applied on it. A~ is a reaction to the beam from the ith bearing. Let the direction of L be positive [the assumed direction of A~ is shown in Fig. (1)3 and that of the displacement produced by L also be positive, then if the 1 - n bearings are replaced by A~ - A, ones (these n bearings are arbitrarily chosen), then the beam mounted in n + 2 bearings is turned into one mounted in two bearings. The displacement .f~ in the ith bearing position of the beam is

Luit_ + Aluil +
where u~, is the influence factor, k = L 1, 2 . . . . n.

AiUii + . .

+ A.uin = f i

(16)

Let S, = 1 C,. As A, andf~ are opposite in direction, we have

- A,Si =.l~.

(17)

From equations (16) and (171. we ha~e

A i r / i ] + A2l~i2 + . . . + A i ( S i 4- uii) -,- . + Anuin = -LuiL. (181

Rewriting equation 118) as a matrix equation, we have

An

IL

A;

"2

l ......

...... i

10

FIG, (1).

Static Stiffness of Machine Tool Spindles

S1 + NIl U12

37

21

S:...+u::

Id23

. . .

I~2.

/I. 2

-L

Id2L

(19)

"a'l

~n2

Mn3

...

Sa'4- U

i.e.
[L,] ,a,=' Ltut_ ',.

(20) (21)
(22)

Thus,
~A,'' = - L [ t : , ] -~

{uL ',.

Under the action of L, the displacement x= in an arbitrary position g of the beam is x w= LusL + Atu=~ + A2u=2 ~ - , , . + A.u=., i.e.
X, = LUll L + [Ult I . . . Ull."] A~ ,

(23}

or

x= = LusL + {u=~,r

',AIj

(24)

where {u=} r ---transposed matrix of lu=}.

From equations (21 } and (24), we have x, = L[~',L - { " , 7 [ v 3 - ' {ut}]. Thus,
u,...: = ,,,~ {u,', ~ [ , , ] - ~ { u . ', (261

(251

Obviously, u g t . , 2 is the influence factor in an arbitrary position of a beam mounted in n + 2 bearings. (Here. n + 2 includes the number of thrust bearings.) Relevant formulae for calculating influence factors of a beam mounted in two bearings can be found in textbooks on Mechanics of Materials (2) The indirect influence factor method By this method, the number of bearings can be reduced step by step, that is to sa.~. we can find the reaction of bearing and the influence factor in an arbitrary position of a beam with n bearings from the influence factors of a beam with n - 1 bearings. Figure (2) shows a beam mounted in n bearings, relevant symbols and directions of load and displacement being the same as before. If the ith bearing is replaced by A,, then the beam mounted in n bearings is changed into one mounted in n - 1 bearings. The displacement f , in the ith bearing position of the beam is

LUiL'n-I +
From equations (27) and (28L we have Ai ---

Aiuii

.-1

=ft

(27) (28)

- AiSi = fi

IAiL n- 1 S, + la,, . - t

(29)

I
A,

1L

F~G (2).

38

Y A N G SHL'ZI

Under the action of L, the displacement x s in an arbitrary position g of the beam is

Xi = LUB/. n - I + Aiugi n-l, (30}

x$ = L

(
UgL a_ 1

UiL " - '

Si 4" Idii n - 1 UiL n - 1 S i -I- uii . n - i

U,, . - , ) .

(31)

UgL n = UgL n - I

ugi n - l .

(32)

As it is, equations (211 and (26) can be regarded as expansions of equations (29) and (32) respectively. F r o m equation (32) we have formed a very important conclusion, namely, if position g of a spindle is the position where L is applied on the spindle and the direction of the displacement in position g is the same as that of L, then u~t. , _ : = u,,~ ,_1 and the first and second term of equation (32) are positive, so ugL., <u,L , _ ~ . This means that when a bearing is added to a spindle, in the direction of L the displacement in a position where L is applied on the spindle must be decreased (at least not increased), but not to zero. (3) Special eases F o r some special cases equations (21). (261 or (29), (321 can be written as follows: (a) For a spindle mounted in three bearinos. (1) Under the action of P. R,P = Si + :Li =,~ 3 = x,~ - - S i + aii

P,

(33)

" "%i.

(34)

(21 Under the action of M.

R ,w

. ;"~ S i -4- ~ii

M,

(35)

;',~ 3 = .'.,, - - -

' ~i

(36)

(3) Under the action of Q

Re "qo
S i -.v- 'vii

Q.

~37 )

~sQ 3 ~- ~sQ- ~i + aii

z%i.

(38)

N o w we shall discuss equation (36~. It is known that node (',j, = 0~ of the span under the action of P must be behind node (;b, = 0] under the action of M. u~, and 7,~ have different signs when between the two nodes and the same sign when beyond them. The addition of a radial bearing implies that 1 is generall)large and a large I will make the two nodes a p p r o a c h each other and the front bearing at the same time. Apparently, it is quite unlikely that the radial bearing will be added between the two nodes. Hence, in general, ;'~. 3 < ;'~. Similarly, when Q is exerted on the overhang, 2,0. a < a , o is the general case. (b) For a spindle mounted in two bearings acted on by reaction moment M,. (1) Under the action of P. My . . . . k. + ~.~ P. (39J

:c,~ ~ = :x,, (21 Under the action of M. M~' . . . . k. + 6,., "

k. +
6 . r.

(40j

M.

(41)

"'
' ~'

= "' ' ''

"7,,.

142)

(3) Under the action of Q.

M o,
u,

~.o
k~ + fib.,, #-.o

.Q,

(,*3)
(441

(J For a spindle mounted in two bearings acted on by M, = M 1 or M., (i.e. bearing W is in the front or rear bearing).

{1) Under the action of P.

Static Stiffness in Machine Tool Spindles

39

M~ =

I ' 3 E I + l ' C a l 2 + 1/Cfl 2 + 1./C~la

~'

[a'

1 3El + l,Cxl 2 + 1 C:I: + k 1

, Pa = =p . Pa,

(45) (46)

'a 2

'+a

(,+a)a

3e~. + ~

+ ~

c--87- + c= , .

(eYl_

_l e'[3E-7+ c 7

rla2 (,+o~

+ g'~.' o

, (ayl

When k, ~< 1/Clla,{~ >~ 1.

M~ =

- 1/6El + 1 Cll 2 + 1'C21 ~ + l : C t l a p a l!3EI + I/C)I 2 + l/Cfl: + k:

= ~ . ~'a,

(47)

'+.
= + 3E'---I~- - -Cfl
+

,'+o,o
+

' :orl
-C7\71_J - ~

'o`
- +

,'+o,o+'-(#]
. (48)

6El

C,

Obviously, in general, ] ~ I < 1 ; when 1 = 1 o , ~ = 0 . (2) Under the action of M.

M~

1 '3El + 1 C ~ l 2 + 1.'C2/2

1 '3El + 1/C~I 2 + l/C212 + kj ( a2

la l+a

M - {~ M (la l+a
+

(491

+)

+)
, (5o)

'" "*'= , 2 - ~ + ~ +

c-y +

3~I - , ' f -- + c - 7
M = ~ . M ,

- I / 6 E I + I'C2I 2 + 1/C212 M~' =

I,,"3E[ + l,'Cfl z + 1/C212 + k 2

(5~)

"~:

--

(;_;, , ,+o !
+ - + +

--

~2

'"

3El

C,I 2

. . ( - -,a + ,+o + #3 . (52)

6El

Obviously, {~, I{~I< 1. (d) For a spindle mounted in three bearings acted on by reaction moment M~. (1) Under the action of P.

[-,l= -,>~-, B'l, R,p J k%, J *

(2) Under the action o / M .

(53)

t'l

(54)

(55)

.... 3 =

>',, -

[r,. ~,J[u,]-'

It]

(56)

(3) Under the action of Q.

,~e 1

(57)

(58

71.

Si "* ~ii

(59)

nl

Fm. (3).

40

YANG SHUZI APPENDIX 3

As shown in Fig. (3), a beam is mounted in n + 2 bearings (including thrust bearing). Let a force and a linear displacement in a given direction be positive and a couple moment and an angular displacement in a given direction also be positive. By the direct influence factor method, the displacement ti~ in the ith bearing position of the beam is
t~, + R,~,,, + R:* ~,: + . . . + M?;,,.. + . . . + R ~ , + . . . + R . ~,. =

6~

{60)
161)

- R~ Si = 6i.

From equations (60) and (61), we have

R ~ : q l + R ~ * , 2 + . . . + M~;',,. + . . . + R ~ ( S i +

~ii) +

"'"

"~ Unain

--

Ai

(62)

Similarly. the angular displacement 0 at bearing W of the beam is

t~,, + i~,~ + ... + M ~ , 6 , , + . . . + R,~,, + . . . + R * , ~ , , = O.

(63) (64)

-M~k,=8.
From equations {631 and (64h we have
R~ #.., + R~ ft.2 + .., + M , * ( k . +6.,.,) + ... + R~ fl..i + ... + R~. ft.. = O.

(65)

Rewriting equations (62) and (65) as

matrix equation, we have "$1+all ~21 a12 $2 + ~22 ... ." )'172w ... fl,,.,
S.+~..
... a,,

R~

"t~, "]

M~

oj
a2 ]
" I
'

(66)

~nl

~n2

""

)'..

...

R, ~

A.

i.e.
[U]'

~' ~ = ~A
-

-1

'

~A~. '
I 1

(67) (68)

t,A .~)~

It']