Orientation Capability, Error Analysis, and Dimensional Optimization of Two Articulated Tool Heads With Parallel Kinematics
Orientation Capability, Error Analysis, and Dimensional Optimization of Two Articulated Tool Heads With Parallel Kinematics
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DOI：
10.1115/1.2783255
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发表时间：
2008-02
影响因子：
4
通讯作者：
Xinjun Liu;I. Bonev
中科院分区：
文献类型：
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作者：
Xinjun Liu;I. Bonev
由于工业上对A/B轴刀头的需求越来越大，特别是在结构铝航空航天零件的薄壁加工应用中，具有并联运动的三自由度铰接式刀头已经变得非常流行。针对具有3-P V P H S和3 P V RS并联运动的两种刀头(P、R和S分别代表棱体、回转和球面关节，下标V和H表示P关节方向为垂直或水平，带下划线的关节符号表示关节处于活动状态)的定位能力和定位精度进行了尺寸优化。首先研究了球面关节的倾角、定位能力以及由输入误差引起的移动平台一点的误差。3-P、V、P、H、S刀头的优化很容易。对于3-P-V-RS刀头，建立了设计空间，说明了定位能力和误差指标与链节长度的关系。并给出了相应的优化过程。使用这里介绍的优化方法，并不难找到所有可能的最优解。
Because of the increasing demand in industry for A/B-axis tool heads, particularly in thin wall machining applications for structural aluminium aerospace components, the three-degree-of-freedom articulated tool head with parallel kinematics has become very popular. This paper addresses the dimensional optimization of two types of tool head with 3-P V P H S and 3-P V RS parallel kinematics (P, R, and S standing for prismatic, revolute, and spherical joint, respectively; the subscripts V and H indicating that the direction of the P joint is vertical or horizontal, and the joint symbol with underline means the joint is active) by considering their orientation capability and positioning accuracy. We first investigate the tilt angle of the spherical joint, the orientation capability, and the error of one point from the mobile platform caused by input errors. Optimization of the 3-P V P H S tool head is easy. For the 3-P V RS tool head, a design space is developed to illustrate how the orientation capability and error index are related to the link lengths. An optimization process is accordingly presented. Using the optimization method introduced here, it is not difficult to find all the possible optimal solutions.