Kinetostatic modeling of Exechon parallel kinematic machine for stiffness analysis
Kinetostatic modeling of Exechon parallel kinematic machine for stiffness analysis
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DOI：
10.1007/s00170-013-5482-z
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发表时间：
2014-03
期刊：
影响因子：
--
通讯作者：
Z. Bi
中科院分区：
文献类型：
--
作者：
Z. Bi
Exechon机床是一种新型的并联机床，实验证明其在精度、可靠性和运行速度方面具有竞争力。经过验证的性能部分归功于其独特的三棱柱腿布局;其运动结构受到过度约束。更高的精度是使用Exechon机床的主要目标;精度依赖于系统刚度和刚性。然而，Exechon机的刚度分析的工作一直局限于一些数值结果，从有限元分析，没有系统地研究运动和刚度变化之间的相关性。为了深入了解过约束对系统刚度的影响，采用动静力法进行刚度分析。推导了运动学雅可比矩阵，并将其用于建立机床的系统刚度模型。Exechon X700模型已被用来作为一个案例研究，以说明刚度分析的过程。建立了刚度模型，并将仿真结果与试验数据进行了量化比较，验证了刚度模型的有效性。开发的刚度模型可以应用于优化机器结构或轨迹规划的基础上指定的任务。
Exechon machines are a new type of parallel kinematic machines, which have been proven experimentally to be competitive in terms of accuracy, reliability, and operation speed. The proven performance is partially contributed by its unique layout of three prismatic legs; its kinematic structure is overconstrained. Higher accuracy is a primary goal for the use of an Exechon machine; accuracy relies on system stiffness and rigidity. However, the works on the stiffness analysis of Exechon machines has been limited to some numerical results from finite element analysis; no correlation between the motions and stiffness change has been studied systematically. To gain a thorough understanding of the impact of the overconstraints on system stiffness, the kinetostatic method is used for stiffness analysis. Jacobian matrices of kinematics have been derived, and they are used to develop the system stiffness model of the machine. The Exechon X700 model has been used as a case study to illustrate the process of stiffness analysis. The stiffness model is established and quantifiable comparison has been made between simulation and test data to verify the effectiveness of the stiffness model. The developed stiffness model can be applied to optimize machine structure or trajectory planning based on the specified task.