Kinetostatic Modeling and Analysis of an Exe-Variant Parallel Kinematic Machine - Details

author：

Tang, Tengfei (Tang, Tengfei.) ^[1] | Zhang, Jun (Zhang, Jun.) ^[2] (Scholars：张俊) | Zhao, Yanqin (Zhao, Yanqin.) ^[3]

Indexed by：

EI Scopus PKU CSCD CSSCI

Abstract：

A　novel　Exe-variant　PKM　with　a　topological　arrangement　of　2RPU&1RPS　was　proposed　by　the　authors　to　achieve　a　better　platform　rotational　ability　over　the　Exechon　parallel　kinematic　machine　(PKM).　After　introducing　the　concept　design,　the　mobility　analysis　and　inverse　kinematics　of　the　proposed　Exe-variant　PKM　are　conducted.　With　the　substructure　synthesis　techniques,　a　kinetostatic　model　that　includes　joint　deflections　and　limb　flexibilites　is　developed　to　investigate　the　kinetostatic　characteristics　of　the　Exe-variant　PKM.　The　platform＇s　elastic　displacements　and　joint　reaction　forces/moments　of　the　Exe-variant　PKM　at　the　extreme　position　are　analyzed.　Furthermore,　their　mappings　over　any　work　plane　are　evaluated　throughout　the　entire　workspace.　The　results　reveal　that　the　gravity-caused　elastic　displacements　of　the　platform　and　joint　force/moment　reactions　are　noticeable.　The　mappings　of　platform＇s　elastic　displacements　and　joint　forces/moments　reactions　in　the　entire　workspace　are　position-dependant　and　demonstrate　a　symmetry　over　any　given　work　plane.　©　2017,　Shanghai　Jiao　Tong　University　Press.　All　right　reserved.

Keyword：

Flexible manufacturing systems Inverse kinematics Joints (anatomy) Mapping

Community：

[ 1 ] [Tang, Tengfei]School of Mechanical Engineering, Anhui University of Technology, Ma'anshan; Anhui; 243032, China
[ 2 ] [Zhang, Jun]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou; 350116, China
[ 3 ] [Zhao, Yanqin]School of Mechanical Engineering, Anhui University of Technology, Ma'anshan; Anhui; 243032, China