Applications of equivalent components concept on the singularity analysis of TRR-XY hybrid parallel kinematic machine tools

被引：0

作者：

Chen, Shang-Liang ^{[1
]}

Chang, Tsann-Huei ^{[2
]}

Lin, Yi-Chin ^{[1
]}

机构：

[1] Institute of Manufacturing Engineering, National Cheng-Kung University, University Road No. 1, 701 Tainan, Taiwan

[2] Industry Technology Research Institute, Taiwan 407, Taiwan

来源：

International Journal of Advanced Manufacturing Technology | 2006年 / 30卷 / 7-8期

关键词：

The design of using a parallel kinematic mechanism as a structure of machine tools has several good points compared with the traditional machine tools. However; the problem of singularity is usually encountered during real applications. Therefore; singularity analysis is very essential for using a parallel kinematic mechanism in real machining applications. Screw theory based on the Plücker coordinate system is one of the effective methods for analyzing the singularity of a parallel kinematic mechanism. A TRR-XY five DOF parallel kinematic machine tool that was developed in this research is adopted as an example for investigating the feasibility of this method. A 6×6 matrix calculation is usually required in screw theory for analyzing a six DOF mechanism. For a three DOF mechanism; the analysis using the screw theory becomes more complicated. An equivalent component method is addressed in this research to simplify the singularity analysis for a three DOF mechanism. The effects of differently designed dimensions of machine tools on the singularity are also investigated in this research;

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摘要：

Journal article (JA)

引用

页码：778 / 788