Design of a novel 5-DOF parallel kinematic machine tool based on workspace

Abstract

In this paper an inverse concept idea is presented to determine the main configuration dimensional parameters of a novel 5-DOF parallel kinematic machine tool. By the new described orientation workspace, the motion of the passive joints on the moving platform can be expressed in the fixed coordinate analytically. Some relationships between the reachable workspace and the dimensional parameters of the parallel machine tool have been obtained with graphical representation.

Kinematic Performances of a Novel TLPM Parallel Robot

“…(2), by substitution of the points p and qi, the forward kinematic problem can be formulated as in the following equations: Eqs. (3)(4)(5)(6) are the polynomial solution for the forward kinematics problem of this robot with at most two real solutions; the Cartesian positions of the moving platform are shown in Table 1 In this project, as shown in Fig. 3, the workspace of the TLPM robot is defined as a region of the three dimensional space generated by the three prismatic joints in the FCS frame.…”

“…Optimal design methodologies have to rely on kinematic performance indices. There is a rich body of literatures addressing the design problem of developing good performance of a manipulator based upon workspace optimization [6,7].…”

Designing a Novel Three-Degree-of-Freedom Parallel Robot Based on Workspace

“…Meanwhile, Huang [17] presented a general method to determine a compatible orientation workspace for various 6-DOF parallel manipulators. In considering a reachable workspace, Gao et al [18] presented a new method to determine the configuration architecture parameters of a novel 5-DOF parallel machine. The method makes it possible to describe the relationship between the reachable workspace and the configuration dimensional parameters of the parallel machine.…”

Kinematics and statics analysis of a novel 5-DoF parallel manipulator with two composite rotational/linear active legs

“…Generally, a PM with five degree of freedoms (DoFs) is the lower-mobility PM and has attracted much attentions due to its potential applications for parallel machine tool normal machining 3D freedom-surface, arm of robot, legs of walking robots, medicine surgical operator, the tunnel borer, the barbette of war ship, and the satellite surveillance platform [1,2]. In this aspect, Gao et al synthesized some 5-DoF PMs with sub-chain structure limbs [3,4]. Fang and Tsai [5] synthesized a class of overconstrained 5-DoF PMs with identical limbs by screw theory.…”

“…(2) is expressed by (α, β, γ) from Eq. (4). Let e i be the distance from b i to o, E i be the distance from B i to O.…”