scholarly journals A new hierarchical approach for the optimal design of a 5-dof hybrid serial-parallel kinematic machine

2021 ◽  
Vol 156 ◽  
pp. 104160
Author(s):  
Yanqin Zhao ◽  
Jiangping Mei ◽  
Yan Jin ◽  
Wentie Niu
Keyword(s):  
Optimal Design ◽  
Hierarchical Approach ◽  
Parallel Kinematic Machine ◽  
Parallel Kinematic

Optimal Design of a New Parallel Kinematic Machine for Large Volume Machining

2012 ◽  
pp. 343-354 ◽  
Author(s):  
Yan Jin ◽  
Zhuming Bi ◽  
Colm Higgins ◽  
Mark Price ◽  
Weihai Chen ◽  
...  
Keyword(s):  
Optimal Design ◽  
Large Volume ◽  
Parallel Kinematic Machine ◽  
Parallel Kinematic

Error analysis and optimal design of a class of translational parallel kinematic machine using particle swarm optimization

Robotica ◽  
2009 ◽  
Vol 27 (1) ◽  
pp. 67-78 ◽  
Author(s):  
Qingsong Xu ◽  
Yangmin Li
Keyword(s):  
Particle Swarm Optimization ◽  
Optimal Design ◽  
Architectural Design ◽  
Particle Swarm ◽  
Search Method ◽  
Parallel Kinematic Machine ◽  
Error Performance ◽  
Swarm Optimization ◽  
Error Amplification ◽  
Parallel Kinematic

SUMMARYIn this paper, the optimization of architectural parameters for a class of translational parallel kinematic machine (PKM) is performed with the particle swarm optimization (PSO) to achieve the best accuracy characteristics. The conventional error transformation matrix (ETM) is derived based on the differentiation of kinematic equations, and a new error amplification index (EAI) over a usable workspace is proposed as an error performance index for the optimization. To validate the efficiency of the PSO method, both the traditional direct search method and the genetic algorithm (GA) are implemented as well. The simulation results not only show the advantages of PSO method for the architectural optimization, but also reveal the necessity to introduce the EAI for the optimal design. And the results are valuable for architectural design of the PKM for machine tool applications.

Modal Analysis and Modeling of a Parallel Kinematic Machine

1999 ◽  
Author(s):  
David S. Hardage ◽  
Gloria J. Wiens
Keyword(s):  
Finite Element ◽  
Resonant Frequency ◽  
Structural Dynamics ◽  
Preliminary Data ◽  
Element Model ◽  
Parallel Kinematic Machine ◽  
Parallel Kinematic ◽  
Machine Configuration ◽  
Stiffness Characteristics ◽  
The Finite Element Model

Abstract This paper presents the results of a mini-modal survey on the Hexel Tornado 2000, a parallel kinematic machine tool located at Sandia National Laboratories, and discusses the finite element model that is used to simulate the structural dynamics of this machine. Preliminary data suggests a dependency of resonant frequency and stiffness characteristics on machine configuration.

scholarly journals Conceptual design and comparative stiffness analysis of an Exechon-like parallel kinematic machine with lockable spherical joints

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141772413
Author(s):  
Teng-fei Tang ◽  
Jun Zhang
Keyword(s):  
Conceptual Design ◽  
Prediction Accuracy ◽  
Parallel Kinematic Machine ◽  
Stiffness Analysis ◽  
Parallel Kinematic Machines ◽  
Stiffness Model ◽  
Dynamic Analyses ◽  
Parallel Kinematic ◽  
Kinetostatic Model ◽  
Limb Structure

This article proposes two types of lockable spherical joints which can perform three different motion patters by locking or unlocking corresponding rotational axes. Based on the proposed lockable spherical joints, a general reconfigurable limb structure with two passive joints is designed with which the conceptual designs of two types of Exechon-like parallel kinematic machines are completed. To evaluate the stiffness of the proposed Exechon-like parallel kinematic machines, an expanded kinetostatic model is established by including the compliances of all joints and limb structures. The prediction accuracy of the expanded stiffness model is validated by numerical simulations. The comparative stiffness analyses prove that the Exe-Variant parallel kinematic machine claims competitive rigidity performance to the Exechon parallel kinematic machine. The present work can provide useful information for further investigations on structural enhancement, rigidity improvement, and dynamic analyses of other Exechon-like parallel kinematic machines.

scholarly journals Rapid Evaluation for Position-Dependent Dynamics of a 3-DOF PKM Module

2014 ◽  
Vol 6 ◽  
pp. 238928 ◽  
Author(s):  
Hai-wei Luo ◽  
Hui Wang ◽  
Jun Zhang ◽  
Qi Li
Keyword(s):  
Natural Frequencies ◽  
Mode Shapes ◽  
Parallel Kinematic Machine ◽  
Computationally Efficient ◽  
Element Analysis ◽  
Reduction Techniques ◽  
Modal Reduction ◽  
Governing Differential Equation ◽  
Parallel Kinematic ◽  
Analytical System

Based on the substructure synthesis and modal reduction technique, a computationally efficient elastodynamic model for a fully flexible 3-RPS parallel kinematic machine (PKM) tool is proposed, in which the frequency response function (FRF) at the end of the tool can be obtained at any given position throughout its workspace. In the proposed elastodynamic model, the whole system is divided into a moving platform subsystem and three identical RPS limb subsystems, in which all joint compliances are included. The spherical joint and the revolute joint are treated as lumped virtual springs with equal stiffness; the platform is treated as a rigid body and the RPS limbs are modelled with modal reduction techniques. With the compatibility conditions at interfaces between the limbs and the platform, an analytical system governing differential equation is derived. Based on the derived model, the position-dependent dynamic characteristics such as natural frequencies, mode shapes, and FRFs of the 3-RPS PKM are simulated. The simulation results indicate that the distributions of natural frequencies throughout the workspace are strongly dependant on mechanism's configurations and demonstrate an axial-symmetric tendency. The following finite element analysis and modal tests both validate the analytical results of natural frequencies, mode shapes, and the FRFs.

Kinematic calibration of a 5-DoF parallel kinematic machine

2016 ◽  
Vol 45 ◽  
pp. 242-261 ◽  
Author(s):  
Yimin Song ◽  
Jiateng Zhang ◽  
Binbin Lian ◽  
Tao Sun
Keyword(s):  
Kinematic Calibration ◽  
Parallel Kinematic Machine ◽  
Parallel Kinematic
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