Geometric and Kinematic Modelling of a New Parallel Kinematic Machine Tool: The Tripteor X7 Designed by PCI

2010 ◽  
Vol 112 ◽  
pp. 159-169 ◽  
Author(s):  
Sylvain Pateloup ◽  
Helene Chanal ◽  
Emmanuel Duc
Keyword(s):  
Machine Tools ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Parallel Kinematic Machine ◽  
Joint Coordinates ◽  
Kinematic Behaviour ◽  
Kinematic Modelling ◽  
Kinematic Models ◽  
Automotive Part ◽  
Parallel Kinematic

Today, Parallel Kinematic Machine tools (PKMs) appear in automotive and aeronautic industry. These machines propose high kinematic performances allowing a higher productivity than Serial Kinematic Machine tools (SKMs). However, this kinematic behaviour is anisotropic and a particular study is then necessary to locate the part in a workspace where the kinematic performances are well exploited. The study presented in this article deals with the determination of geometric and kinematic models of a new PKM : the Tripteor X7 designed by PCI. The inverse kinematic model expresses the joint coordinates with regard to the cartesian coordinates. The kinematic model which takes into account velocity, acceleration and jerk limits axis, allows computing the displacement time between two tool positions. Finally, this model can be used to determine the workspace where Non Effective cutting Times (TNE) are minimum. The method is applied for an automotive part machining

scholarly journals Kinematic Analysis and Trajectory Planning of the Orthoglide 5-Axis

2015 ◽  
Author(s):  
S. Caro ◽  
D. Chablat ◽  
P. Lemoine ◽  
P. Wenger
Keyword(s):  
Trajectory Planning ◽  
Kinematic Analysis ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Hybrid Architecture ◽  
Parallel Kinematic Machine ◽  
Control Loop ◽  
Parallel Kinematic

The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid architecture, namely, a three degrees of freedom translational parallel manipulator mounted in series with a two degrees of freedom parallel spherical wrist. The simpler the kinematic modeling of the Orthoglide 5-axis, the higher the maximum frequency of its control loop. Indeed, the control loop of a parallel kinematic machine should be computed with a high frequency, i.e., higher than 1.5 MHz, in order the manipulator to be able to reach high speed motions with a good accuracy. Accordingly, the direct and inverse kinematic models of the Orthoglide 5-axis, its inverse kinematic Jacobian matrix and the first derivative of the latter with respect to time are expressed in this paper. It appears that the kinematic model of the manipulator under study can be written in a quadratic form due to the hybrid architecture of the Orthoglide 5-axis. As illustrative examples, the profiles of the actuated joint angles (lengths), velocities and accelerations that are used in the control loop of the robot are traced for two test trajectories.

Complete kinematic calibration of a 6-RRRPRR parallel kinematic machine based on the optimal measurement configurations

2019 ◽  
Vol 234 (1) ◽  
pp. 121-136 ◽  
Author(s):  
Chunyang Han ◽  
Yang Yu ◽  
Zhenbang Xu ◽  
Xiaoming Wang ◽  
Peng Yu ◽  
...  
Keyword(s):  
Kinematic Model ◽  
Inverse Kinematic ◽  
Error Model ◽  
Kinematic Calibration ◽  
Universal Joint ◽  
Parallel Kinematic Mechanism ◽  
Simulation And Experiment ◽  
Parallel Kinematic ◽  
Kinematic Mechanism ◽  
Selection Of

This paper presents a kinematic calibration of a 6-RRRPRR parallel kinematic mechanism with offset RR-joints that would be applied in space positioning field. In order to ensure highly accurate and highly effective calibration process, the complete error model, which contains offset universal joint errors, is established by differentiating inverse kinematic model. A calibration simulation comparison with non-complete error model shows that offset universal joint errors are crucial to improve the calibration accuracy. Using the error model, an optimal calibration configuration selection algorithm is developed to determine the least number of measurement configurations as well as the optimal selection of these configurations from the feasible configuration set. To verify the effectiveness of kinematic calibration, a simulation and experiment were performed. The results show that the developed approach can effectively improve accuracy of a parallel kinematic mechanism with relatively low number of calibration configurations.

scholarly journals Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Chong Wang ◽  
Dongxue Liu ◽  
Qun Sun ◽  
Tong Wang
Keyword(s):  
Inverse Kinematics ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Open Architecture ◽  
Model Parameters ◽  
Structural Variations ◽  
Robot Controller ◽  
Kinematic Models ◽  
Kinematic Studies

This paper presents a kinematic analysis for an open architecture 6R robot controller, which is designed to control robots made by domestic manufactures with structural variations. Usually, robot kinematic studies are often introduced for specific robot types, and therefore, difficult to apply the kinematic model from one to another robot. This study incorporates most of the robot structural variations in one model so that it is convenient to switch robot types by modifying model parameters. By combining an adequate set of parameters, the kinematic models, especially the inverse kinematics, are derived. The kinematic models are proved to be suitable for many classic industrial robot types, such as Puma560, ABB IRB120/1600, KAWASAKI RS003N/RS010N, FANUC M6iB/M10iA, and therefore be applicable to those with similar structures. The analysis and derivation of the forward and inverse kinematic models are presented, and the results are proven to be accurate.

Efficient Simulation of Parallel Kinematic Machine Tools

2009 ◽  
Author(s):  
Martin Kipfmu¨ller ◽  
Christian Munzinger
Keyword(s):  
Machine Tool ◽  
Machine Tools ◽  
Development Process ◽  
Special Focus ◽  
Full Potential ◽  
Parallel Kinematic Machine ◽  
Machine Tool Industry ◽  
Simulation Tools ◽  
Parallel Kinematic ◽  
Parallel Kinematic Machine Tools

Today’s machine tool industry mainly consists of small and medium-sized enterprises. Thus, the simulation of new products often does not seem to be cost effective due to the small number of items produced and the high cost of simulation tools. Nevertheless, the use of simulation tools is essential in order to tap the full potential of new challenging concepts like parallel kinematic machines. This paper presents a simulation method supporting the development process of parallel kinematic machine tools from the first concept to the prototype. In order to render the method applicable for the machine tool industry, a special focus is placed on tool efficiency. A modular modeling concept will ensure that the structure of the first kinematic model of the concept phase can be enhanced during the development process and developed into more detailed models, e.g. for dimensioning calculations or to study the dynamic behavior of machine tools. Thus, the method efficiently supports the whole development process with a simulation model gradually increasing in detail according to the requirements of the machine tool designer.

A New 4-DOF Fully Parallel Robot With Decoupled Rotation for Five-Axis Micromachining Applications

2019 ◽  
Vol 11 (3) ◽  
Author(s):  
Oleksandr Stepanenko ◽  
Ilian A. Bonev ◽  
Dimiter Zlatanov
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Parallel Robot ◽  
Parallel Kinematic Machine ◽  
Constant Length ◽  
End Effector ◽  
Kinematic Models ◽  
Parallel Kinematic ◽  
Linear Actuators ◽  
Five Axis

We present a novel 4-DOF (degrees of freedom) parallel robot designed for five-axis micromachining applications. Two of its five telescoping legs operate simultaneously, thus acting as an extensible parallelogram linkage, and in conjunction with two other legs control the position of the tooltip. The fifth leg controls the tilt of the end-effector (a spindle), while a turntable fixed at the base of the robot controls the swivel of the workpiece. The robot is capable of tilting its end-effector up to 90 deg, for any tooltip position. In this paper, we study the mobility of the new parallel kinematic machine (PKM), describe its inverse and direct kinematic models, then study its singularities, and analyze its workspace. Finally, we propose a potential mechanical design for this PKM utilizing telescopic actuators as well as the procedure for optimizing it. In addition, we discuss the possibility of using constant-length legs and base-mounted linear actuators in order to increase the volume of the workspace.

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.

Parallel Mechanism for Precision Sun Tracking

2010 ◽  
Author(s):  
Stefano Mauro ◽  
Cristina Scarzella
Keyword(s):  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Kinematic Structure ◽  
Parallel Kinematic Machine ◽  
Photovoltaic Modules ◽  
Solar Tracking ◽  
Parallel Kinematic

The paper describes a 2-DOF parallel kinematic machine designed to achieve precise solar tracking. The mechanism has been developed keeping in mind that solar concentration technology requires a precise alignment of photovoltaic modules and sun radiation, with error allowance much lower than those ensured by traditional sun trackers. The paper describes the kinematic structure and discusses its forward and inverse kinematic, providing the tools to design a system that satisfies the requirements for dexterity and workspace.

scholarly journals Adaptive Kinematic Modelling for Multiobjective Control of a Redundant Surgical Robotic Tool

Robotics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 68
Author(s):  
Francesco Cursi ◽  
George P. Mylonas ◽  
Petar Kormushev
Keyword(s):  
Kinematic Model ◽  
Adaptive Strategy ◽  
Machine Learning Techniques ◽  
Effective Control ◽  
Surgical Robots ◽  
Tracking Errors ◽  
Kinematic Modelling ◽  
Kinematic Models ◽  
Robotic Tool ◽  
And Control

Accurate kinematic models are essential for effective control of surgical robots. For tendon driven robots, which are common for minimally invasive surgery, the high nonlinearities in the transmission make modelling complex. Machine learning techniques are a preferred approach to tackle this problem. However, surgical environments are rarely structured, due to organs being very soft and deformable, and unpredictable, for instance, because of fluids in the system, wear and break of the tendons that lead to changes of the system’s behaviour. Therefore, the model needs to quickly adapt. In this work, we propose a method to learn the kinematic model of a redundant surgical robot and control it to perform surgical tasks both autonomously and in teleoperation. The approach employs Feedforward Artificial Neural Networks (ANN) for building the kinematic model of the robot offline, and an online adaptive strategy in order to allow the system to conform to the changing environment. To prove the capabilities of the method, a comparison with a simple feedback controller for autonomous tracking is carried out. Simulation results show that the proposed method is capable of achieving very small tracking errors, even when unpredicted changes in the system occur, such as broken joints. The method proved effective also in guaranteeing accurate tracking in teleoperation.

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