Design of a Three-Axis Articulated Tool Head With Parallel Kinematics Achieving Desired Motion/Force Transmission Characteristics-Reference-Cited by-同舟云学术

Design of a Three-Axis Articulated Tool Head With Parallel Kinematics Achieving Desired Motion/Force Transmission Characteristics

Published:2010-03-31 Issue:2 Volume:132 Page:
ISSN:1087-1357
Container-title:Journal of Manufacturing Science and Engineering
language:en
Short-container-title:

Author:

Liu Xin-Jun¹,Wang Li-Ping¹,Xie Fugui¹,Bonev Ilian A.²

Affiliation:

1. Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Tsinghua University, Beijing 100084, China

2. Department of Automated Manufacturing Engineering, École de technologie supérieure, 1100 Notre-Dame Street West, Montreal, QC H3C 1K3, Canada

Abstract

This paper addresses the design issue of a three-axis tool head with three-PRS parallel kinematics (P, R, and S standing for prismatic, revolute, and spherical joint, respectively) by considering their orientation capability and motion/force transmission. The content presented here is actually an improvement on the dimensional optimization of articulated tool heads with parallel kinematics, with emphasis on the three-PRS design to solve the problem of orientational capability. An index that can evaluate the effectiveness of the motion/force transmission is introduced. The orientation capability with which the mechanism has high motion/force transmission capability is then defined. The procedure searching the link lengths with which the mechanism has a high orientation capability and good effectiveness of motion/force transmission is finally presented.

Publisher

ASME International

Subject

Industrial and Manufacturing Engineering,Computer Science Applications,Mechanical Engineering,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/manufacturingscience/article-pdf/doi/10.1115/1.4001244/5519384/021009_1.pdf

Reference21 articles.

1. Bonev, I. A. , 2002, “Geometric Analysis of Parallel Mechanisms,” Ph.D. thesis, Université Laval, Québec, Canada.

2. Architecture Optimization of Three 3-PRS Variants for Parallel Kinematic Machining;Pond;Rob. Comput.-Integr. Manufact.

3. A New 3-DOF Parallel Mechanism With Full Symmetrical Structure and Parasitic Motions;Liu

4. Kinematics and Inverse Dynamics Analysis for a General 3-PRS Parallel Mechanism;Li;Robotica

5. Orientation Capability, Error Analysis, and Dimensional Optimization of Two Articulated Tool Heads With Parallel Kinematics;Liu;ASME J. Manuf. Sci. Eng.

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