Optimization of a redundantly actuated parallel kinematic mechanism for a 5-degree-of-freedom hybrid machine tool

被引:21
|
作者
Xie, Fugui [1 ,2 ,3 ]
Liu, Xin-Jun [1 ,2 ,4 ]
Zhou, Yanhua [1 ,2 ,5 ]
机构
[1] Tsinghua Univ, State Key Lab Tribol, Beijing 100084, Peoples R China
[2] Tsinghua Univ, Inst Mfg Engn, Dept Mech Engn, Beijing 100084, Peoples R China
[3] Tsinghua Univ, Dept Precis Instruments, Beijing 100084, Peoples R China
[4] Tsinghua Univ, Dept Mech Engn, Beijing Key Lab Precis Ultra Precis Mfg Equipment, Beijing 100084, Peoples R China
[5] Naval Aeronaut & Astronaut Univ, Dept Aircraft Engn, Yantai, Peoples R China
基金
中国国家自然科学基金; 中国博士后科学基金;
关键词
Parallel kinematic mechanism; actuation redundancy; optimum design; hybrid machine tool; DIMENSIONAL SYNTHESIS; OPTIMAL-DESIGN; MANIPULATORS; PERFORMANCE; ROBOT; FAMILY; DELTA; FORM;
D O I
10.1177/0954405414522450
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
In this article, a novel redundant 3-degree-of-freedom parallel kinematic mechanism with high rotational capability is proposed and alternate configurations are presented. Taking the motion/force transmissibility into consideration, a local minimized transmission index is introduced and suggested to act as the performance evaluation criterion for this redundantly actuated parallel kinematic mechanism. On this basis, the optimum design of the proposed parallel kinematic mechanism is carried out and its rotational capability is investigated. The result indicates that the rotational capability of the proposed mechanism can surpass 115 degrees. Compared with traditional parallel kinematic mechanisms, this represents a substantial advantage for practical applications. Using the redundant parallel kinematic mechanism as the parallel module, a redundant hybrid machine tool capable of five-face machining in one setup is developed and applied in the manufacture of parts with freeform surfaces.
引用
收藏
页码:1630 / 1641
页数:12
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