Error Comparison and Analysis of Parallel and Constraint Mechanism for 3-TPS Hybrid Machine Tool

2011 ◽  
Vol 127 ◽  
pp. 277-282
Author(s):  
Peng Fei Dang ◽  
Li Jin Fang
Keyword(s):  
Machine Tool ◽  
Parallel Mechanism ◽  
Parallel Robot ◽  
Error Model ◽  
Position Error ◽  
Robot Kinematics ◽  
Motion Error ◽  
Movable Plate ◽  
Hybrid Machine Tool ◽  
Hybrid Machine

This paper establishes position error model based on parallel robot kinematics theory, and analyses position error of the 3-TPS hybrid machine tool. Firstly, to calculate position error of the movable plate caused by the parallel mechanism links, through error model of the parallel mechanism which is established through inverse kinematics of the hybrid machine tool. Then, according to the error model of constraint mechanism established by transformation matrix method, the position error has been simulated and calculated. Finally, this paper compares the effects of both mechanisms. The analysis indicates the link error of constraint mechanism has more influence on movable plate posture than parallel mechanism, and provides help with motion error compensation and kinematic calibration.

Error Model and Kinematic Calibration of a 5-axis Hybrid Machine Tool

2006 ◽  
Author(s):  
Jun-woo Kim ◽  
Chang-rok Shin ◽  
Han-sung Kim ◽  
Jin-ho Kyung ◽  
Young-ho Ha ◽  
...  
Keyword(s):  
Machine Tool ◽  
Error Model ◽  
Kinematic Calibration ◽  
Hybrid Machine Tool ◽  
Hybrid Machine

Design and workspace analysis of a 3-degree-of-freedom parallel swivel head with large tilting capacity

2015 ◽  
Vol 231 (10) ◽  
pp. 1838-1849 ◽  
Author(s):  
Jiangzhen Guo ◽  
Dan Wang ◽  
Rui Fan ◽  
Wuyi Chen
Keyword(s):  
Machine Tool ◽  
Parallel Mechanism ◽  
Degree Of Freedom ◽  
Parallel Mechanisms ◽  
Spherical Joint ◽  
Hybrid Machine Tool ◽  
Tilting Angle ◽  
Workspace Analysis ◽  
Hybrid Machine ◽  
Orientation Workspace

Traditional parallel mechanisms are usually characterized by small tilting capability. To overcome this problem, a 3-degree-of-freedom parallel swivel head with large tilting capacity is proposed in this article. The proposed parallel swivel head, which is structurally developed from a conventional 3-PRS parallel mechanism, can achieve a large tilting capability by means of structural improvements. First, a modified spherical joint with a maximum tilting angle of ±120° is devised to diminish the physical restrictions on the orientation workspace. Second, a UPS typed leg is introduced for the sake of singularity elimination. The superiority of the proposed parallel swivel head is theoretically proved by investigations of singularity-free orientation workspace and then is experimentally validated using a prototype fabricated. The theoretical and experimental results illustrate that the proposed parallel swivel head has a large tilting capacity and thus can be used as swivel head for a hybrid machine tool which is designed to be capable of realizing both horizontal and vertical machining.

Simulation Analysis of Kinematics and Dynamics of 3-TPS Hybrid Robot

2014 ◽  
Vol 983 ◽  
pp. 379-382
Author(s):  
Jia Shun Shi ◽  
Shuang Wang ◽  
Li Da Zhu ◽  
Wan Shan Wang ◽  
Tian Biao Yu
Keyword(s):  
Machine Tool ◽  
Driving Force ◽  
Simulation Analysis ◽  
Maximum Velocity ◽  
Virtual Prototype ◽  
Robot Kinematics ◽  
Kinematics And Dynamics ◽  
Three Dimensional Model ◽  
Hybrid Machine Tool ◽  
Hybrid Machine

The paper aims at the questions of electromotor selection and mechanism design, which is effectively solved by the virtual prototype technology. Firstly, the three-dimensional model of hybrid machine tool is built by using SolidWorks software. Secondly, the assembled model is channeled into ADAMS/View, and then formed the virtual prototype simulation model with mute-body dynamics. Velocity and driving force curve of each driving shaft is got by analyzing the kinematics and dynamics of the hybrid machine tool. Maximum velocity and maximum driving force each driving shaft can find out by the method of space search. Therefore, the kinematics and dynamics properties of 3-TPS hybrid machine tool is obtained, which provide proof for machine electromotor selection, framework design and control system design. Key words: Hybrid robot; Kinematics; Dynamics; ADAMS; Simulation

Design and Experimental Study of a 3-DOF Parallel Swivel Head

2013 ◽  
Vol 418 ◽  
pp. 132-140
Author(s):  
Dan Wang ◽  
Jiang Zhen Guo ◽  
Rui Fan ◽  
Wu Yi Chen
Keyword(s):  
Experimental Study ◽  
Machine Tool ◽  
Parallel Mechanism ◽  
Experimental Results ◽  
Parallel Mechanisms ◽  
Spherical Joint ◽  
Hybrid Machine Tool ◽  
Tilting Angle ◽  
Hybrid Machine ◽  
Orientation Workspace

Traditional parallel mechanisms (PMs) are usually characterized by small tilting capability. To overcome this problem, a 3-DOF parallel swivel head (PSH) with large tilting capacity is proposed in this paper. The proposed PSH, which is structurally developed from a conventional 3-PRS parallel mechanism (PM), can achieve a large tilting capability by means of structural improvements. Firstly, a modified spherical joint with a maximum tilting angle of ±120o is devised to diminish the physical restrictions on the orientation workspace. Secondly, a UPS typed leg is introduced for the sake of singularity elimination. The superiority of the proposed PSH is theoretically proved by investigations of singularity-free orientation workspace and then is experimentally validated using a prototype fabricated. The theoretical and experimental results illustrate that the proposed PSH has a large tilting capacity and thus can be used as swivel head for a hybrid machine tool which is designed to be capable of realizing both horizontal and vertical machining.

scholarly journals Research on Influence of Joint Clearance on Precision of 3-TPT Parallel Robot

2019 ◽  
Vol 10 (1) ◽  
pp. 287-298
Author(s):  
Chunxia Zhu ◽  
Zhiyu Zhao
Keyword(s):  
Matrix Method ◽  
Parallel Mechanism ◽  
Parallel Robot ◽  
Error Model ◽  
Independent Method ◽  
Position Error ◽  
Joint Clearance ◽  
Ideal State ◽  
Moving Platform ◽  
The Ideal

Abstract. The error model of the working accuracy of parallel mechanism was established in this paper. The D-H matrix method and error independent method were used to analyze the clearance error of mechanism joint based on the inverse position kinematics solution. The theoretical model describing the position error of the moving platform position error affected by its joint clearance was developed when the moving platform was parallel to fixed platform in the ideal state; the clearance error model of 3-TPT Parallel mechanism was established based on D-H matrix method and error independent method while the joint clearance error source was given. The effect of joint clearance error on the working accuracy of 3-TPT parallel mechanism was analyzed by Monte Carlo method. The effect of posture error due to revolution of the moving platform about coordinate axis on the error of parallel mechanism was simulated and analyzed based on D-H matrix method in the non-ideal state.

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