Compliance analysis of a 3-SPR parallel mechanism with consideration of gravity

Abstract

(2015) Compliance analysis of a 3-SPR parallel mechanism with consideration of gravity. Mechanism and Machine Theory, 84. Permanent WRAP url:http://wrap.warwick.ac.uk/78035 Copyright and reuse:The Warwick Research Archive Portal (WRAP) makes this work by researchers of the University of Warwick available open access under the following conditions. Copyright © and all moral rights to the version of the paper presented here belong to the individual author(s) and/or other copyright owners. To the extent reasonable and practicable the material made available in WRAP has been checked for eligibility before being made available.Copies of full items can be used for personal research or study, educational, or not-forprofit purposes without prior permission or charge. Provided that the authors, title and full bibliographic details are credited, a hyperlink and/or URL is given for the original metadata page and the content is not changed in any way. A note on versions:The version presented here may differ from the published version or, version of record, if you wish to cite this item you are advised to consult the publisher's version. Please see the 'permanent WRAP url' above for details on accessing the published version and note that access may require a subscription.

Research on the Structural Rigidity Characteristics of a Reconfigurable TBM Thrust Mechanism

“…Therefore, the rigidity characteristics become one of the primary characteristics of a parallel kinematic machine (PKM), and so is for the TM. The main purposes of use are as follows: (1) for general purpose [12,23], (2) analyzing performance [9,[24][25][26][27], (3) passive compliance or force control [28,29], (4) rigid body matching [30,31], and (5) the analysis of TM deformation.…”

Stiffness modeling and analysis of a novel 5-DOF hybrid robot

“…Stiffness is one of the most important performances of the above-mentioned hybrid robots when they are applied for high-speed machining, where high rigidity and high accuracy are crucially required. Motivated by these requirements, the last two decades have seen tremendous efforts towards this topic [5][6][7][8][9][10][11][12][13][14][15][16][17][18][19] by taking the Tricept robot as the most widely studied subject [5][6][7][8][9][10][11][12][13][14][15]. For instance, Joshi and Tsai [5] compared the stiffness characteristics of the 3-DOF parallel mechanism within the Tricept robot with that of a 3-DOF manipulator having three supporting legs by merely considering the actuation compliances.…”

“…[18] developed a stiffness model by taking into account the compliances of both actuated and passive joints as well as limb structures, leading to a parametric analysis that provides useful information for the structural optimization and rigidity improvement. Wang et al [19] developed a stiffness model by taking into account gravitational effects of the movable components of a 5-DOF hybrid robot similar to the Exechon robot. Stiffness modeling, analysis and optimization of various other parallel kinematic machines designed for large part machining were also studied in [20][21][22][23][24].…”

Workspace Analysis of a Hybrid Kinematic Machine Tool with High Rotational Applications

“…For instance, the German DS Technologie launched five-axis machining center Ecospeed spindle for aircraft structure components with complex geometries, and the spindle head was mounted on the end effector of parallel manipulator, which can realize rotation about the x-and y-axis and translation along z-axis, and translation in X and Y direction can be realized by two very long tracks [15]. Wang et al [16] have proposed a 3-SPR parallel mechanism which forms the main body of a 5-DOF hybrid manipulator especially designed for high speed machining in the aircraft industry. A five-axis hybrid machine has been developed to realize lapping and milling for large complex structure component surface, and it is generated by serially adding a 2-DOF A/C-axis head to the coupling threedegree-of-freedom 3RPS parallel manipulator in terms of two rotations and one translation [17,18].…”