Design and analysis of a redundantly actuated parallel mechanism for rapid machining
Design and analysis of a redundantly actuated parallel mechanism for rapid machining
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DOI：
10.1109/70.954755
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发表时间：
2001-08
期刊：
影响因子：
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通讯作者：
Jongwon Kim;F. Park;Sun-Joong Ryu;Jinwook Kim;J. Hwang;Changbeom Park;C. Iurascu
中科院分区：
文献类型：
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作者：
Jongwon Kim;F. Park;Sun-Joong Ryu;Jinwook Kim;J. Hwang;Changbeom Park;C. Iurascu
本文介绍了Eclipse的设计，结构和性能分析，冗余驱动的六自由度并联机构的快速加工。Eclipse是一种紧凑的机构，能够在一次安装中进行五面加工，同时保留了并联机构的高刚度和高精度特性的优点。我们比较数值和代数算法的正逆运动学的一类Eclipse和形式化的机床工作空间的概念。我们还开发了一个简单的方法，一阶弹性运动学分析的并联机构，是服从设计迭代。一个完整的描述的奇异性的Eclipse，冗余驱动提出了一种解决方案。Eclipse案例研究演示了最初在机器人上下文中开发的各种分析工具如何合成为并行机构的实用设计方法。
This paper describes the design, construction, and performance analysis of the Eclipse, a redundantly actuated six-degree-of-freedom parallel mechanism intended for rapid machining. The Eclipse is a compact mechanism capable of performing five-face machining in a single setup while retaining the advantages of high stiffness and high accuracy characteristic of parallel mechanisms. We compare numerical and algebraic algorithms for the forward and inverse kinematics of a class of the Eclipse and formalize the notion of machine tool workspace. We also develop a simple method for the first-order elasto-kinematic analysis of parallel mechanisms that is amenable to design iterations. A complete characterization of the singularities of the Eclipse is given, and redundant actuation is proposed as a solution. The Eclipse case study demonstrates how diverse analytical tools originally developed in a robotics context can be synthesized into a practical design methodology for parallel mechanisms.