Dimensional parameters and structural topology integrated design method of a planar 5R parallel machining robot

Wang, Meng; Song, Yimin; Lian, Binbin; Wang, Panfeng; Chen, Kaixuan; Sun, Tao

doi:10.1016/j.mechmachtheory.2022.104964

Cited by 15 publications

(3 citation statements)

References 35 publications

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“…C ABLE-DRIVEN parallel robots (CDPRs) are known as a type of mechanical structure that is actuated by cables instead of rigid links [1]. Parallel cables are widely used in CDPRs to provide constraints to realize multiple degrees of freedom [2]. CDPRs has large and easily extensible workspace, relatively simple structure, superior flexibility [3], and other cost-wise advantages based on the relatively light weight of cables compared to conventional manipulators with rigid arms [4].…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Adaptive Whale Optimization Control Algorithm for Trajectory Tracking of a Cable-Driven Parallel Robot

Zhou,

Wang,

et al. 2024

IEEE Trans. Automat. Sci. Eng.

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Section: Introductionmentioning

confidence: 99%

Fuzzy Adaptive Whale Optimization Control Algorithm for Trajectory Tracking of a Cable-Driven Parallel Robot

Zhou,

Wang,

et al. 2024

IEEE Trans. Automat. Sci. Eng.

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“…The kinematics equation form is the same whether one is modeling the motion of a multi-axis CNC machine tool using the motion shaft model or the POE model of the motion system. Meng Wang [12] used the Taguchi experimental design approach to produce the components with varying specifications by orthogonalization of the dimensional parameters, and an IDM of dimensional parameters and structural topology is proposed based on the improved stiffness-mass metamodeling to fill the gaps in model. Chauhan et al [13] proposed the dynamic description of a wind turbine transmission.…”

Section: Introductionmentioning

confidence: 99%

Effect of spatial moving structure and topology optimization of the CNC turning machine tools

Chan,

Reddy,

Ullah

et al. 2023

Int J Adv Manuf Technol

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In order to enhance the accuracy and productivity of CNC machine tools, Finite Element Method (FEM) is utilized for analyzing machining operations and machine tool structures. Through this approach, it becomes possible to assess and reduce machining errors, thereby improving the precision of machined parts. Additionally, by subjecting machine tool components to analysis of stress and deformations under real operating conditions, the overall performance and lifespan of the machine tool structures can be augmented. This study provides a comprehensive review of recent published papers focusing on the implementation of finite element methods for the analysis and optimization of CNC machine tool operations and structures. In this study, a virtual model of the Goodway CNC turning machine was used to study the machine's behavior. The first three vibrational modes analyzed through a modal analysis were 108.2Hz, 133.4Hz, and 191.7Hz, which were experimentally validated using modal tests. The design precision was supported using the harmonic response. For an applied external load of 500N on the head chuck, the tool turret's transient response was established through transient analysis at 0.4s. However, after the static analysis, the maximum deformation of the machine at the same external applied load on the tool turret was upheld at 7.6µm. The spatial position analysis rectified the modal performance of the machine at a variety of set working positions. As the principal cause of rigidity originates from the base of the machine, three sets of ground support combinations were claimed to test the machine's rigidity. After the topology optimization analysis was achieved, a better-optimized version of the design is suggested. The old and new models were compared, and an increase of 1.5% in the first three modal frequencies was observed.

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“…In many modern applications, such as manufacturing robots 1 , 2 , bionic robots 3 , 4 , medical robots 5 , 6 and aeronautical robots 7 , 8 , the mechanism is subject to external payloads and gravity of its own components which in turn induce deformations causing positioning errors. In order to improve motion accuracy and machining accuracy, stiffness analysis becomes an important solution.…”

Section: Introductionmentioning

confidence: 99%

Stiffness characteristics analysis of a Biglide industrial parallel robot considering the gravity of mobile platform and links

Guan

Zou

et al. 2023

Sci Rep

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For the machining process of industrial parallel robots, the gravity generated by the weight of mobile platform and links will lead to the deviation of the expected machining trajectory of the tool head. In order to evaluate this deviation and then circumvent it, it is necessary to perform the robotic stiffness model. However, the influence of gravity is seldom considered in the previous stiffness analysis. This paper presents an effective stiffness modeling method for industrial parallel robots considering the link/joint compliance, the mobile platform/link gravity, and the mass center position of each link. First, the external gravity corresponding to each component is determined by the static model under the influence of gravity and mass center position. Then, the corresponding Jacobian matrix of each component is obtained by the kinematic model. Subsequently, the compliance of each component is obtained by cantilever beam theory and FEA-based virtual experiments. In turn, the stiffness model of the whole parallel robot is determined and the Cartesian stiffness matrix of the parallel robot is calculated at several positions. Moreover, the principal stiffness distribution of the tool head in each direction over the main workspace is predicted. Finally, the validity of the stiffness model with gravity is experimentally proved by the comparison of the calculated stiffness and measured stiffness in identical conditions.

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Dimensional parameters and structural topology integrated design method of a planar 5R parallel machining robot

Cited by 15 publications

References 35 publications

Fuzzy Adaptive Whale Optimization Control Algorithm for Trajectory Tracking of a Cable-Driven Parallel Robot

Fuzzy Adaptive Whale Optimization Control Algorithm for Trajectory Tracking of a Cable-Driven Parallel Robot

Effect of spatial moving structure and topology optimization of the CNC turning machine tools

Stiffness characteristics analysis of a Biglide industrial parallel robot considering the gravity of mobile platform and links

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