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

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.

Kinematics Analysis of the Exechon Tripod

2010 ◽  
Author(s):  
Matteo Zoppi ◽  
Dimiter Zlatanov ◽  
Rezia Molfino
Keyword(s):  
Machine Tools ◽  
Inverse Kinematics ◽  
Three Dimensional ◽  
Kinematics Analysis ◽  
Axis Parallel ◽  
Spherical Wrist ◽  
In Series ◽  
Successful Design ◽  
Parallel Kinematic ◽  
Fixture System

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.

A New Parallel Kinematic Machine UPS-2RPS and Kinematics Analysis

2009 ◽  
Vol 626-627 ◽  
pp. 417-422
Author(s):  
Zhi You Feng ◽  
Zhi Guo Gao ◽  
Ting Li Yang ◽  
Ce Zhang
Keyword(s):  
Topological Structure ◽  
Mathematic Model ◽  
Kinematics Analysis ◽  
Parallel Kinematic Machine ◽  
Structure Characteristics ◽  
Parallel Kinematic ◽  
Position Solution

A new parallel kinematic machine UPS-2RPS with serial input limb is presented, the topological structure characteristics are described. The mathematic model of inverse position solution is derived. The workspace of the mechanism is analyzed and researched by results of MATLAB and Pro/E simulation, The research will be of great significance to promote its novation, application and spread .

Theoretical Design and Control Analysis of Reconfigurable Parallel Kinematic Machine Tools

2007 ◽  
Author(s):  
Dan Zhang ◽  
Zhuming Bi ◽  
Yunjian Ge
Keyword(s):  
Machine Tools ◽  
Geometric Modeling ◽  
General Concept ◽  
Control Analysis ◽  
Parallel Kinematic Machine ◽  
Modeling And Control ◽  
Theoretical Design ◽  
Parallel Kinematic ◽  
And Control ◽  
Parallel Kinematic Machine Tools

This paper introduces the theoretical design and control of reconfigurable parallel kinematic machine tools. First, the general concept of reconfigurable parallel kinematic machine (RPKM) and its growing demand are introduced. Second, the design of reconfigurable parallel kinematic machines is discussed and the geometric modeling of such structures is presented and explained. The potential applications of this type of machine are described. Finally, a case study for one of the proposed structures is conducted, including kinematic/dynamic modeling and control, some results and simulation are demonstrated.

Kinematic Analysis and Dimensional Synthesis of a New 2R1T Parallel Kinematic Machine

2018 ◽  
Author(s):  
Lingmin Xu ◽  
Xubiao Zhu ◽  
Wei Ye ◽  
Qinchuan Li ◽  
Qiaohong Chen
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Kinematic Machine ◽  
Dimensional Synthesis ◽  
Transmission Index ◽  
Fixed Base ◽  
Prismatic Joints ◽  
Force Transmissibility ◽  
Parallel Kinematic ◽  
Local Transmission

This paper deals with the kinematic analysis and dimensional synthesis of a new 2R1T (R: rotation, T: translation) parallel kinematic machine (PKM). This is a 2PRU-UPR (P, R, U standing for prismatic, revolute and universal joint, respectively) PKM that is actuated by three actuated prismatic joints, two of which are mounted on the fixed base to reduce the movable mass. Firstly, the mobility and inverse kinematics of the 2PRU-UPR PKM are proposed. And then the motion/force transmissibility is evaluated by the local transmission index and good transmission workspace. Moreover, the singular configurations are obtained according to the motion/force transmissibility. Dimensional synthesis is carried out based on the GTW, and the optimized architectural parameters with good GTW are obtained. Finally, a prototype based on the optimized parameters has been developed, which has great potential in machining workpieces with curved surfaces.

Mechanical Structure Design of Ontology of the Automatic Line-Tracking Inspection Device Based on Pro/E Modeling and the Kinematics Analysis

2012 ◽  
Vol 220-223 ◽  
pp. 1131-1137
Author(s):  
Sheng Mei Luo ◽  
Le Tian ◽  
Bo Zhang
Keyword(s):  
Transmission Lines ◽  
Screw Theory ◽  
Characteristic Parameter ◽  
Structure Design ◽  
Kinematics Analysis ◽  
Modeling Software ◽  
On Line ◽  
Line Tracking ◽  
Set Up ◽  
And Control

A new line-tracking inspection device which can move on the high voltage transmission lines and control on the ground by people is presented in this paper. The device has three mechanical arms, every arm can lift and rotate automatically, and manipulator can open and close automatically. The flexible design is used in lower riding wheel, this design can make the upper and lower riding wheel automatically adjustment, so as to adapt to the change of wire diameter. Automatic checking and autonomous negotiating obstacles are realized successfully in this device. The biggest breakthrough is that its automatic on-line or off-line can be completed by operator operating the auxiliary tools on the ground. This article uses the Pro/E modeling software set up the virtual prototype of the line-tracking inspection device based on characteristic parameter model. The process of on-line or off-line automatically and the process of negotiating obstacles are discussed in this paper. Using the product of exponentials formula based the on screw theory, the kinematics analysis is processed in this paper. The forward and inverse solution of kinematics equations is presented and at last the Jacobian matrix is given. The results of experiments with simulation transmission lines demonstrate that the device has realized the specified work tasks and runs smoothly.

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

2002 ◽  
Vol 216 (2) ◽  
pp. 143-156 ◽  
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.

Design and Experimental Investigation of a New 2R1T Overconstrained Parallel Kinematic Machine With Actuation Redundancy

2019 ◽  
Vol 11 (3) ◽  
Author(s):  
Lingmin Xu ◽  
Xinxue Chai ◽  
Qinchuan Li ◽  
Liangan Zhang ◽  
Wei Ye
Keyword(s):  
Inverse Kinematics ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Curved Surfaces ◽  
Parallel Kinematic Machine ◽  
Actuation Redundancy ◽  
Dimensional Parameters ◽  
Force Transmissibility ◽  
Parallel Kinematic

Two rotations and one translation (2R1T) parallel kinematic machines (PKMs) are suitable for the machining of complex curved surfaces, which requires high speed and precision. To further improve rigidity, precision, and avoid singularity, actuation redundancy, and overconstrained PKMs with fixed actuators and limited-degrees of freedom (DOF) limbs are preferred. However, there are few 2R1T PKMs with these features. This paper introduces a new 2R1T overconstrained PKM with actuation redundancy, which is called Tex4. The Tex4 PKM consists of four limited-DOF limbs; that is, two PUR limbs and two 2PRU limbs (where P denotes an actuated prismatic joint, U denotes a universal joint, and R denotes a revolute joint). The kinematic model of the proposed 2PUR-2PRU machine is presented along with the results of mobility, inverse kinematics, and velocity analysis. By considering the motion/force transmissibility, the dimensional parameters of the Tex4 PKM were optimized to obtain an improved satisfactory transmission workspace without singular configurations. Finally, a prototype based on the optimized parameters was fabricated, and its feasibility and accuracy were validated by motion and position error experiments. The Tex4 PKM has the advantages of high rigidity, simple kinematic model, and zero singularity in the workspace, which suggests that it has potential for use in the high-speed machining of curved surfaces.

The Inverse Kinematics Analysis and Simulation of the Special Five Bar Cutting Mechanism for the Ellipse Section Shield

2012 ◽  
Vol 562-564 ◽  
pp. 568-572 ◽  
Author(s):  
Xiao Wei Wu ◽  
Chuan Guang Leng
Keyword(s):  
Inverse Kinematics ◽  
Group Method ◽  
The Novel ◽  
Kinematics Analysis ◽  
Cutting Mechanism ◽  
Characteristic Curves ◽  
Computer Emulation ◽  
And Mathematics ◽  
Set Up ◽  
Shield Machine

The hybrid driven special five bar mechanism is applied to cutting mechanism for the novel ellipse section shield machine. Based on the rod-group method, inverse kinematics of the special five-bar mechanism are analyzed and mathematics models of inverse kinematics are set up in order to obtain the equations and relations of position, velocity and acceleration between output motions and input motions. Some characteristic curves ofθP andθ4 are obtained through inverse kinematics analysis and the computer emulation, meanwhile the results of simulation proves the accuracy of the ideas in this paper. It lays an academic foundation for further research.

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