Tool-Path Planning Method For Kinematics Optimization of Blade Machining On Five-Axis Machine Tool

Planning tool-paths on free-form surfaces is a widely discussed issue. However, traditional methods of generating paths capable of meeting all the requirements of blade machining remain challenging. In this study, a new iso-parametric path-planning strategy based on a novel parameterization method combined with the conformal transformation theory was proposed. The proposed method could adapt to the curvature characteristics of the blade surface, improving the kinematic performance of the machining process, reducing multi-axis coordinated motion control complexity, and improving machining quality. The proposed method was then compared with three traditional methods. The influence of the tool-path on the kinematic performance of the machine tool was quantitatively examined based on the kinematics models of two different machine tools. A large cutting depth milling experiment was conducted to verify that kinematics optimization could improve machining quality. The proposed method provides a more reasonable path-planning approach for blade machining on a five-axis machine tool, which is of great significance in reducing the cost of blade machining and the risks of blade failure. Moreover, it is of great significance for the large-scale automated production of blades.

A toy-inspired kirigami pattern and its kinematic performance by applying mechanisms and machine theory

Origami that can form various shapes by setting simple creases on the paper and folding along these creases has a lot of applications from the fields of art to engineering. The inverse problem of origami that determines the distribution of creases based on the desired shape is very complicated. In this paper, we use theoretical kinematics to systematically analyse an inverse folding problem of a toy about how to fold a piece of paper into a disc through a smaller hole without breaking it. The results show that some four-crease and six-crease patterns can achieve the expected function, and they can be easily folded with 1 degree of freedom (DOF). It not only opens up a new way to solve the inverse folding problem but also helps students to understand mechanisms and machine theory.

Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots

The essential characteristics of machining robots are their stiffness and their accuracy. For machining tasks, serial robots have many advantages such as large workspace to footprint ratio, but they often lack the stiffness required for accurately milling hard materials. One way to increase the stiffness of serial manipulators is to make their joints using closed-loop or parallel mechanisms instead of using classical prismatic and revolute joints. This increases the accuracy of a manipulator without reducing its workspace. This paper introduces an innovative two degrees of freedom closed-loop mechanism and shows how it can be used to build serial robots featuring both high stiffness and large workspace. The design of this mechanism is described through its geometric and kinematic models. Then, the kinematic performance of the mechanism is analyzed, and a serial arrangement of several such mechanisms is proposed to obtain a potential design of a machining robot.

Social familiarity improves fast-start escape performance in schooling fish

Using social groups (i.e. schools) of the tropical damselfish Chromis viridis, we test how familiarity through repeated social interactions influences fast-start responses, the primary defensive behaviour in a range of taxa, including fish, sharks, and larval amphibians. We focus on reactivity through response latency and kinematic performance (i.e. agility and propulsion) following a simulated predator attack, while distinguishing between first and subsequent responders (direct response to stimulation versus response triggered by integrated direct and social stimulation, respectively). In familiar schools, first and subsequent responders exhibit shorter latency than unfamiliar individuals, demonstrating that familiarity increases reactivity to direct and, potentially, social stimulation. Further, familiarity modulates kinematic performance in subsequent responders, demonstrated by increased agility and propulsion. These findings demonstrate that the benefits of social recognition and memory may enhance individual fitness through greater survival of predator attacks.

Kinematic Analysis and Optimal Design of a Novel Schönflies-Motion Parallel Manipulator with Rotational Pitch Motion for Assembly Operations

This paper presents a novel Schönflies-motion Parallel Manipulator with Rotational Pitch motion (SPM-RP) based on a single-platform fully-parallel mechanism. The analysis of position, workspace, velocity, and singularity of the SPM-RP is carried out in detail, and a dimensionless Jacobian is proposed to evaluate the manipulability of the SPM-RP. It is shown that the SPM-RP is kinematically position-decoupled, which possesses a large singularity-free workspace and excellent manipulability. The SPM-RP is actuated by four parallel prismatic actuators, enabling the manipulator to provide identical kinematic performance at all generic cross-sections perpendicular to the prismatic joint axes within its workspace. This paper thus proposes a reduced design optimization formulation, where the traditional optimization over the entire workspace is reduced to one on a representative workspace cross-section of the SPM-RP. The design optimization of the SPM-RP has been carried out by maximizing its manipulability over the total orientation workspace, which is crucial for precision assembly. A SPM-RP prototype has been developed based on the achieved optimal design. The mobility, orientation capability, total orientation workspace, and repeatability are tested and verified for the developed SPM-RP prototype. Experiments show that the SPM-RP achieves a large total orientation workspace with excellent precision performance.