A Study on Dynamics of 2-PRR Parallel Machine Tool Based on the Lagrange Equation

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.295-297.1373 ◽

2011 ◽

Vol 295-297 ◽

pp. 1373-1379

Author(s):

Suo Xian Yuan ◽

Dan Dan Shen

Keyword(s):

Machine Tool ◽

Dynamic Equation ◽

Lagrange Equation ◽

Parallel Machine ◽

Displacement Velocity ◽

Dynamics Analysis ◽

Moving Platform ◽

Parallel Machine Tool

Based on the Lagrange equation, a dynamic equation of 2-PRR parallel machine tool has been established and the relation among displacement,velocity and acceleration of moving platform was given. By modeling and simulating on the simulink of Matlab, forword dynamics are solved. This paper also provide a reference for dynamics analysis and optimization of less freedom machine tool

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The Research on the Workspace of the 3-TPT Parallel Machine Tool

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.385-386.69 ◽

2013 ◽

Vol 385-386 ◽

pp. 69-72 ◽

Cited By ~ 1

Author(s):

Heng Hua Zhao ◽

Hui Yang ◽

Hong Shuan Fu

Keyword(s):

Machine Tool ◽

Motion Planning ◽

Mechanical Design ◽

Parallel Machine ◽

Important Data ◽

Important Indicator ◽

Tool Performance ◽

Moving Platform ◽

Simulation Results ◽

Parallel Machine Tool

The workspace of a machine tool is an important indicator to measure a machine tool performance as well as the important data of mechanical design and motion planning. This article in view of the 3-TPT parallel machine tool. First, according to the positive and inverse solution of Mechanism kinematics, the expression of the range of motion of the moving platform reference point was calculated. Then, by considering the effects of rod length and Hooke joints on the workspace, the workspace could be simulated by using MATLAB software and LabVIEW software.The simulation results show that the parallel machine tool workspace is continuous and no caves.

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Analysis on the Impact of the Error Mapping for Structural Parameters of Parallel Machine Tool

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.188.515 ◽

2011 ◽

Vol 188 ◽

pp. 515-520 ◽

Cited By ~ 1

Author(s):

Yong Geng Wei ◽

Zhong Xian Wang

Keyword(s):

Performance Evaluation ◽

Machine Tool ◽

Attitude Change ◽

Structural Parameters ◽

Parallel Machine ◽

Evaluation Index ◽

Performance Evaluation Index ◽

Moving Platform ◽

Parallel Machine Tool ◽

The Impact

In order to improve the 6-DOF parallel machine tool motion accuracy and reduce error, the impact of the error mapping for Structural Parameters of Parallel Machine Tool is analyzed. The fixing platform and the moving platform of 6-DOF PMT are linked by six variable-length rod with the kinematic pair (hooke hinge or hooke hinge). By changing the length of the drive rod, causing moving platform position and attitude change, a variety of motion can be simulated and emulated. If the cut tool is installed on the moving platform, the various surface parts can be machined, shown in Figure 1. The above figure shown, in order to obtain the moving platform trajectory, we need measure hooke hinge space position of the fixing platform and the moving platform[1]. There are 6 hooke hinges on the fixing platform and there are 3 parameters (x, y, z) on every hooke hinge. There are 6 hooke hinges on the moving platform and there are 3 parameters (x, y, z) on every hooke hinge. So a total of 12 hooke hinges positions (36 parameters) need be measured. Due to the actual processing, assembly and measurement error, the actual measured values and theoretical values for 36 parameters can not be a complete match and lead to the moving platform errors. This paper will study the 36 parameters on the impact of mapping errors. Firstly, the error mapping formula between drive rod and the moving platform for PMT is established, secondly the performance evaluation index of the error mapping is deducted, and then the relationship between 36 parameters and the error mapping index is established. At last, to the different types of PMT structures and structural parameters, the ideal structural parameters with the aid of the performance evaluation index are optimized.

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Accuracy Analysis and Simulation of Three Degrees of Freedom Parallel Machine Tool

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.37-38.73 ◽

2010 ◽

Vol 37-38 ◽

pp. 73-76

Author(s):

Xing Shan Li ◽

Jun Wang ◽

Guang Qi Cai

Keyword(s):

Machine Tool ◽

Degrees Of Freedom ◽

Influence Factors ◽

Parallel Machine ◽

Matrix Methods ◽

Fixed Base ◽

Moving Platform ◽

Parallel Machine Tool ◽

Serial Chains ◽

Three Degrees Of Freedom

This paper proposes a novel three degrees of freedom parallel machine tool. The parallel machine tool consists of three serial chains and a fixed base and a moving platform which can be moved in a pose space corresponding to the three degrees of freedom. By using matrix methods, a error model of the parallel machine was developed. The explicit solution of the error of joint and the stroke error of telescopic link were solved for analysis of influence factors of error on the position of moving platform. It provided a theoretical foundation for error compensation of parallel machine tool.

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Kinematic Performance of 5-UPS/PRPU 5-Axis Parallel Machine Tool

Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2004-57029 ◽

2004 ◽

Cited By ~ 1

Author(s):

Yong Sheng Zhao ◽

Kui Jing Zheng ◽

Qin Chuan Li ◽

Xiao Jing Tian ◽

Yan Ming Qin

Keyword(s):

Machine Tool ◽

Degrees Of Freedom ◽

Screw Theory ◽

Vertical Axis ◽

Parallel Machine ◽

Parameter Method ◽

Solution Equation ◽

Axis Parallel ◽

Moving Platform ◽

Parallel Machine Tool

A novel 5-UPS/PRPU 5-axis PMT (Parallel Machine Tool) is studied. The stationary platform is connected with the moving platform by the same five UPS actuated limbs and a PRPU passive constraining limb. Three translational DOF (degrees of freedom) and two rotational DOF can be achieved. by using kinematic screw theory and D-H parameter method, the kinematic forward and inverse solutions of the PRPU constraining limb are deduced. The rotational constraint along the vertical axis of the moving platform acted by the PRPU limb is confirmed. Moreover, the configuration of the moving platform can be acquired online by installing sensors on the joints of the constraining limb. The kinematic inverse solution equation and jacobian matrix for this 5-axis PMT are presented. Finally the workspace and the dexterity of the PMT are analyzed. Theoretical analysis is proved by the actual operation of the prototype of the 5-UPS/PRPU 5-axis PMT in our laboratory.

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Design of a novel 5-DOF parallel kinematic machine tool based on workspace

Robotica ◽

10.1017/s0263574704000451 ◽

2005 ◽

Vol 23 (1) ◽

pp. 35-43 ◽

Cited By ~ 18

Author(s):

Feng Gao ◽

Binbin Peng ◽

Weimin Li ◽

Hui Zhao

Keyword(s):

Machine Tool ◽

Graphical Representation ◽

Parallel Machine ◽

Parallel Kinematic Machine ◽

Reachable Workspace ◽

Dimensional Parameters ◽

Parallel Kinematic ◽

Moving Platform ◽

Parallel Machine Tool ◽

Orientation Workspace

In this paper an inverse concept idea is presented to determine the main configuration dimensional parameters of a novel 5-DOF parallel kinematic machine tool. By the new described orientation workspace, the motion of the passive joints on the moving platform can be expressed in the fixed coordinate analytically. Some relationships between the reachable workspace and the dimensional parameters of the parallel machine tool have been obtained with graphical representation.

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