Kinematics Analysis of the Exechon Tripod

The Exechon 5-Axis Parallel Kinematic Machine (PKM) is a successful design created in Sweden and adopted by many producers of machine tools around the world. A new version of the manipulator is being developed as a component of a mobile self-reconfigurable fixture system within an inter-European project. The basic Exechon architecture consists of a 3-degree-of-freedom (dof) parallel mechanism (PM) connected in series with a two- or three-dof spherical wrist. The PM has two UPR (4-dof) legs, constrained to move in a common rotating plane, and an SPR (5-dof) leg. The paper presents the kinematic analysis of both the PM and the hybrid parallel-serial architecture. We describe the complex three-dimensional motion pattern of the PM platform, derive the kinematic equations and provide explicit solutions for the inverse kinematics.

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Design and Kinematic Analysis of a Novel Machine Tool With Four Rotational Axes and One Translational Axis

Journal of Manufacturing Science and Engineering ◽

10.1115/1.4044711 ◽

2019 ◽

Vol 141 (11) ◽

Author(s):

Song Gao ◽

Jihong Chen ◽

Shusheng Liu ◽

Xiukun Yuan ◽

Pengcheng Hu ◽

...

Keyword(s):

Machine Tool ◽

Kinematic Analysis ◽

Machine Tools ◽

Inverse Kinematics ◽

Kinematics Analysis ◽

Rotary Axes ◽

Machining Quality ◽

New Type ◽

Kinematic Performance ◽

Five Axis

Abstract Due to their superior machining quality, efficiency, and availability, five-axis machine tools are important for the manufacturing of complicated parts of freeform surfaces. In this study, a new type of the five-axis machine tool was designed that is composed of four rotary axes as well as one translational axis. Given the structure of the proposed machine tool, an inverse kinematics analysis was conducted analytically, and a set of methods was then proposed to address the issues in the kinematic analysis, e.g., the singularity and multi-solution problems. Compared with traditional five-axis machine tools, which are typically composed of three linear axes and two rotary axes, the proposed machine tool exhibited better kinematic performance with machining parts with hub features, such as impellers, which was validated by simulations and real cuttings.

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Design optimization of the linkage dimension for a hybrid-type parallel kinematic machine tool

Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics ◽

10.1243/14644190260070385 ◽

2002 ◽

Vol 216 (2) ◽

pp. 143-156 ◽

Cited By ~ 2

Author(s):

T-H Chang ◽

S-L Chen ◽

C-A Kang ◽

I Inasaki

Keyword(s):

Machine Tool ◽

Machine Tools ◽

Inverse Kinematics ◽

Design Parameters ◽

Parallel Kinematic Machine ◽

Design Procedures ◽

Research Fields ◽

Hybrid Mechanism ◽

Parallel Kinematic ◽

Accumulated Error

The parallel kinematic machine tool has many advantages including excellent loading capacity, high structural stiffness and small accumulated error of linkage. It has become one of the most important research fields for machine tools. In the present research, a principle for the optimization of the dimensional design parameters of a parallel kinematic machine tool is proposed. A five-degree-of-freedom (5DOF) parallel kinematic machine tool with a TRR-XY hybrid mechanism is chosen for investigating the design procedures and the optimization results. The inverse kinematics of the hybrid mechanism is first investigated. Then, the inverse solution is used to analyse and create the workspaces of the machine tool. The design parameters of the mechanical components are further optimized for constructing the maximum workspace.

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Kinematics Analysis and Control System Design of 6-DOF Parallel Kinematic Machine with Matlab and EMC2

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.102-104.363 ◽

2010 ◽

Vol 102-104 ◽

pp. 363-367

Author(s):

Bin Cheng Li ◽

Dan Yang ◽

Rong Zhi Lu

Keyword(s):

Inverse Kinematics ◽

Cnc Machining ◽

Control System Design ◽

Kinematics Analysis ◽

Parallel Kinematic Machine ◽

Machining Simulation ◽

Output Control ◽

Parallel Kinematic ◽

Set Up ◽

And Control

This paper obtained the inverse kinematics model through performing kinematic analysis of 6-DOF parallel kinematic machine (PKM) via the MATLAB software. On the basis of that, kinematics inverse module in EMC2(Enhanced Machine Controller) is recompiled and verified through CNC machining simulation, which set up an important foundation for later prototype construction and motor output control.

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Kinematics Analysis of Manipulator using Soft Computing Technique

International Journal of Engineering and Advanced Technology - Regular Issue ◽

10.35940/ijeat.a9454.109119 ◽

2019 ◽

Vol 9 (1) ◽

pp. 996-1003

Keyword(s):

Inverse Kinematics ◽

Firefly Algorithm ◽

Robotic Arm ◽

Kinematics Analysis ◽

Home Position ◽

Computing Technique ◽

Industrial Robotics ◽

Spherical Wrist ◽

Soft Computing Technique ◽

Six Dof

In this paper, the analysis and modeling of six joint axes of a robotic arm having three DOF spherical arm and three DOF spherical wrist have been done to solve the kinematics and inverse kinematics. Kinematics provides the rational explication of a robotic manipulator. For the analysis of industrial robotics manipulator a particular type of kinematics model is required. The Denavit Hartenberg criterion has been used to solve the kinematics equations. MATLAB, Firefly Algorithm (FFA) and Roboanalyzer have been used to get the home position and differences in error at different values of six-DOF manipulator. Error can be optimized to as low as 10-17with the firefly algorithm.

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Precision Mechanisms Based on Parallel Kinematics

International Journal of Automation Technology ◽

10.20965/ijat.2010.p0326 ◽

2010 ◽

Vol 4 (4) ◽

pp. 326-337 ◽

Cited By ~ 6

Author(s):

Takaaki Oiwa ◽

Keyword(s):

Machine Tools ◽

High Speed ◽

Degrees Of Freedom ◽

Three Dimensional ◽

Parallel Kinematics ◽

Multiple Degrees Of Freedom ◽

Parallel Kinematic Mechanism ◽

Parallel Kinematic ◽

Three Dimensional Coordinate ◽

Kinematic Mechanism

The parallel kinematic mechanism has been applied to simulators and robots for its high speed or multiple degrees of freedom. In recent years, however, it has begun to be used for precision mechanisms, such as machine tools, measuring machines, or fine-motion mechanisms. This review outlines the parallel kinematic mechanism and compares it with the conventional orthogonal coordinate mechanism to describe its nature and characteristics as a precision mechanism. It also introduces some cases in which the parallel kinematic mechanism is applied to fine motion mechanisms and three-dimensional coordinate measuring machines in addition to machine tools and robots. Finally, it discusses the problems and future of this parallel kinematic mechanism.

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The Study of Dynamic Simulation on Five Axis CNC Machine

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.284-287.562 ◽

2013 ◽

Vol 284-287 ◽

pp. 562-566

Author(s):

Yi Ming Lee ◽

Kuei Shu Hsu ◽

Shyue Bin Chang

Keyword(s):

Machine Tools ◽

Inverse Kinematics ◽

Machine Design ◽

Cnc Machine Tools ◽

Cnc Machine Tool ◽

Kinematics Analysis ◽

Cnc Machine ◽

Control Interface ◽

Kinematics Simulation ◽

Five Axis

The main purpose of this paper is to study the mechanisms of a new computer model of five-axis CNC machine tool developing process, including the kinematics of the spindle for both vertically and horizontally and its build process by simulation. According to the better process, let designer or user understands the characteristics of these particular machine tools. Through the computer simulation and graphic animation, users can observe the relationships of each movement on these new model multi-axis CNC machine tools. During the process of kinematics simulation, the forward and inverse kinematics are discussed and verified by simulation of software ADAMS. A control interface using Matlab is proposed to realize the motion commands and coordinate the kinematics. The simulated prototype demonstrates the feasibility in design through kinematics analysis of the new five axis CNC model in replace of conventional real prototype machine design.

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Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist

Mathematical Problems in Engineering ◽

10.1155/2021/6647035 ◽

2021 ◽

Vol 2021 ◽

pp. 1-11

Author(s):

Seemal Asif ◽

Philip Webb

Keyword(s):

Inverse Kinematics ◽

Robot Manipulator ◽

Kinematic Model ◽

Inverse Kinematic ◽

Kinematics Analysis ◽

Inverse Kinematic Problem ◽

Model Study ◽

Spherical Wrist ◽

Forward And Inverse Kinematics ◽

Articulated Robot

The aim of the paper is to study the kinematics of the manipulator. The articulated robot with a spherical wrist has been used for this purpose. The Comau NM45 Manipulator has been chosen for the kinematic model study. The manipulator contains six revolution joints. Pieper’s approach has been employed to study the kinematics (inverse) of the robot manipulator. Using this approach, the inverse kinematic problem is divided into two small less complex problems. This reduces the time of analysing the manipulator kinematically. The forward and inverse kinematics has been performed, and mathematical solutions are detailed based on D-H (Denavit–Hartenberg) parameters. The kinematics solution has been verified by solving the manipulator’s motion. It has been observed that the model is accurate as the motion trajectory was smoothly followed by the manipulator.

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Direct Kinematics of the Exechon Tripod

Volume 5B: 40th Mechanisms and Robotics Conference ◽

10.1115/detc2016-60038 ◽

2016 ◽

Cited By ~ 1

Author(s):

Cuong Trinh ◽

Dimiter Zlatanov ◽

Matteo Zoppi

Keyword(s):

Linear Equations ◽

Parallel Manipulators ◽

Revolute Joints ◽

Spherical Wrist ◽

In Series ◽

Parallel Kinematic ◽

Numerical Solver ◽

Three Degree Of Freedom ◽

Non Linear Equations ◽

Direct Kinematics

This paper presents a solution to the forward kinematics problem of the Exechon parallel mechanism, a three-legged three-degree-of-freedom spatial mechanism with a complex motion pattern of the platform. In series with a universal or a spherical wrist, it has been used in a number of PKM (parallel kinematic machine) designs, and more recently as a mobile robotic fixture. The inverse kinematics solution has been known for a number of years. However, past publications on the Exechon tripod have not presented a method successfully solving the direct kinematics problem. To achieve this here, we first reduce the forward problem to a system of four non-linear equations and then use a standard numerical solver to obtain all sets of possible real roots. This solution allows the calculation of all joint displacements and from there the transformation matrix describing the pose of the end-effector. The obtained solutions divide into two groups, each for a different assembly mode of the mechanism. The method is easy to implement and can potentially be applied to other types of parallel manipulators with revolute joints at the mobile platform.

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