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Workspace Analysis of a Hybrid Kinematic Machine Tool with High Rotational Applications
Joint Authors
Zhang, Haiqiang
Fang, Hairong
Fang, Yuefa
Jiang, Bingshan
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-06-26
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper presents a novel parallel manipulator with one translational and two rotational (1T2R) degrees of freedom that can be employed to form a five-degree-of-freedom hybrid kinematic machine tool for large heterogeneous complex structural component machining in aerospace field.
Compared with serial or parallel machine, hybrid machine has the merits of high stiffness, high speed, large workspace, and complicated surface processing ability.
To increase stiffness, three-degree-of-freedom redundantly actuated and overconstrained 2PRU-PRPS parallel manipulator (P denotes the active prismatic joint) is proposed, which is utilized as the main body of hybrid machine.
By resorting to the screw theory, the degree of freedom of the proposed mechanism is briefly addressed including the initial configuration and general configuration and validated by Grübler-Kutzbach (G-K) equation.
Next, kinematic inverse solution and parasitic motion of the parallel manipulator are deduced and the transformational relations between the Euler angle and Tilt-Torsion (T-T) angle are identified.
Thirdly, the performance evaluation index of orientation workspace is introduced, and the reachable workspace and joint workspace are formulated.
Through specific examples, the reachable workspace, task workspace, and joint workspace of the redundant actuation parallel manipulator are depicted.
Compared with overstrained 2PRU-PRS parallel manipulator, corresponding analyses illustrate that the proposed parallel manipulator owns much better orientation capability and is very meaningful to the development of the five-axis hybrid machine tool.
American Psychological Association (APA)
Zhang, Haiqiang& Fang, Hairong& Fang, Yuefa& Jiang, Bingshan. 2018. Workspace Analysis of a Hybrid Kinematic Machine Tool with High Rotational Applications. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1206351
Modern Language Association (MLA)
Zhang, Haiqiang…[et al.]. Workspace Analysis of a Hybrid Kinematic Machine Tool with High Rotational Applications. Mathematical Problems in Engineering No. 2018 (2018), pp.1-12.
https://search.emarefa.net/detail/BIM-1206351
American Medical Association (AMA)
Zhang, Haiqiang& Fang, Hairong& Fang, Yuefa& Jiang, Bingshan. Workspace Analysis of a Hybrid Kinematic Machine Tool with High Rotational Applications. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1206351
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1206351