Type synthesis of 2T2R, 1T2R and 2R parallel mechanisms

A bstract: This paper introduces a new concept of applying a parallel mechanism in automated fiber placement for aerospace part manufacturing. By investigating the system requirements, a 4-DOF parallel mechanism consisting of two RPS(revolute-prismatic-spherical joints) and two UPS(universal-prismatic-spherical joints) limbs with two rotational and two translational motions is proposed. Both inverse and forward kinematics models are obtained and solved analytically. Based on the overall Jacobian matrix in screw theory, singularity loci are presented and the singularity-free workspace is correspondingly illustrated. To maximize the singularity-free workspace, locations of the two UPS limbs with the platform and base sizes are used in the optimization which gives a new design of a 4-DOF parallel mechanism. A dimensionless Jacobian matrix is also defined and its condition number is used for optimizing the kinematics performance in the optimization process. A numerical example is presented with physical constraint considerations of a test bed design for automated fiber placement.

Singularity-Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement

A five-axis serial-parallel kinematic milling machine, the SPKM 165, is introduced. This machine consists of a three-degree-of-freedom parallel module and a two-degree-of-freedom serial table. The SPKM 165 is capable of five-face machining. A discussion of the inverse kinematics of the five-axis control is provided. A dimensional synthesis procedure is presented in terms of motion/force transmissibility. Finite-element analysis was used to evaluate the stiffness of a CAD model before the machine was manufactured. Kinematic calibration was implemented to improve the accuracy of the end effector. The results of a calibration experiment are presented. The stiffness of the developed machine was then measured. Milling experiments were conducted, and the test piece showed that the developed machine has satisfactory performance.

Design and experimental study of the SPKM165, a five-axis serial-parallel kinematic milling machine

Closed form solution for direct kinematics of a 4PUS + 1PS parallel manipulator

This paper presents direct kinematic analysis of a family of 3R1T parallel manipulators, while R and T denote the rotational and translational degrees of freedom respectively. The manipulators consist of two rigid bodies, a movable platform and a fixed (base) connected to each other by four active legs and one constraining passive leg. First, the direct position kinematics of the manipulators is analyzed. For a general manipulator of this class, this analysis results in a univariate polynomial of degree 30 along with a set of other univariate polynomials of degree 16 and 4 respectively. However, for a special architecture of the manipulators, it is shown that the direct position kinematics leads to a minimal univariate polynomial of degree 12. A numerical example is also included to confirm the results. Moreover, direct velocity and direct kinematic singularities of the manipulators are analyzed using Jacobian matrices.

Direct kinematic analysis of a family of 4-dof parallel manipulators with a passive constraining leg

A new type of 5-axis parallel machine tool based on a novel 4 degrees-of-freedom hybrid parallel platform manipulator with base mounted prismatic actuators is presented. This machine tool is different from the Stewart platform type parallel machine tool in that its feed motion in X-direction is realized by the worktable on which the workpiece is fixed instead of the movable platform of the manipulator. Due to this special architecture, the workspace in X-direction of the new machine tool is greatly enlarged. Its rigidity is higher because of the adaptation of a gantry structure. This machine tool is controlled by a PC-based NC system in simultaneous 5-axis control mode.

http://ir.sia.cn//bitstream/173321/8655/2/HYQW000474.pdf

Development of a novel parallel manipulator based machine tools

In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes, respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on the 4-DOF parallel manipulator is presented.

A novel 4-DOF parallel manipulator and its kinematic modelling

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Development of a novel parallel manipulator based machine tools

A novel 4-DOF parallel manipulator and its kinematic modelling