Kinematic modeling of Exechon parallel kinematic machine
Kinematic modeling of Exechon parallel kinematic machine
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DOI：
10.1016/j.rcim.2010.07.006
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发表时间：
2011-02-01
影响因子：
10.4
通讯作者：
Jin, Y.
中科院分区：
文献类型：
--
作者：
Bi, Z. M.;Jin, Y.
PKM的研究引起了机器人界的高度关注。通过采用并联运动结构，并联运动机（PKM）有望具有工作负载重、速度快、精度高等优点。目前已有数百种新型PKM被提出，但由于期望性能与实际性能之间存在很大差距，大多数已开发的PKM只是研究实验室的原型机，只有少数已被投入使用。 在成功的 PKM 中，Exechon 机床是最近开发的，已实际应用于各种应用。Exechon 采用独特的过约束结构，并在 Tricept 并联运动机的成功基础上进行了改进。注意，尚未进行可量化的理论研究来验证其优越性能，并且其运动学模型尚未公开。本文研究了这种新型机床的运动学特性，研究了正向和逆向的简明模型 这些模型可用于评估现有 Exechon 机床的性能，并优化 Exechon 机床的新结构以完成某些特定任务 (C) 2010 Elsevier Ltd 保留所有权利
The studies on PKMs have attracted a great attention to robotics community By deploying a parallel kinematic structure a parallel kinematic machine (PKM) is expected to possess the advantages of heavier working load higher speed and higher precision Hundreds of new PKMs have been proposed However due to the considerable gaps between the desired and actual performances the majorities of the developed PKMs were the prototypes in research laboratories and only a few of them have been practically applied for various applications among the successful PKMs the Exechon machine tool is recently developed The Exechon adopts unique over-constrained structure and it has been improved based on the success of the Tricept parallel kinematic machine Note that the quantifiable theoretical studies have yet been conducted to validate its superior performances and its kinematic model is not publically available In this paper the kinematic characteristics of this new machine tool is investigated the concise models of forward and inverse kinematics have been developed These models can be used to evaluate the performances of an existing Exechon machine tool and to optimize new structures of an Exechon machine to accomplish some specific tasks (C) 2010 Elsevier Ltd All rights reserved