Kinematic and dynamic analyses of the multi-actuated mechanical press with parallel topology

Bai, Yongjun; Gao, Feng; Guo, Weizhong; Yue, Yi

doi:10.1177/0954406211435036

Cited by 10 publications

(5 citation statements)

References 22 publications

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“…The passive freedoms can counterbalance the deformation to protect machines in the heavy load area. Figure 7 is a parallel mechanical press developed in our laboratory (Bai et al, 2011(Bai et al, , 2012. The mechanical press has four active limbs (RP a RR) and one passive limb PRP a R .…”

Section: The Design Of Passive Freedomsmentioning

confidence: 99%

Number Synthesis of Parallel Robotic Mechanisms

Meng

Gao

2014

Mechanics Based Design of Structures and Machines

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Type synthesis of parallel robotic mechanisms has drawn a lot of interest. In this paper, we treat one basic issue of this scientific problem: number synthesis. Based on the G F sets theory, the general form of number synthesis equations are presented, which predict the structure parameters of parallel mechanisms in the design process with the requirements of dimensions of the parallel mechanisms end-effectors characteristics, overconstraints, passive freedoms, redundant freedoms, and redundant actuation inputs. These requirements are described, respectively, and the uses of the number synthesis equations are illustrated through several examples. The number synthesis query table and programs are presented to provide a systematic method, whose simplicity and validity is illustrated by an example.

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Section: The Design Of Passive Freedomsmentioning

confidence: 99%

Number Synthesis of Parallel Robotic Mechanisms

Meng

Gao

2014

Mechanics Based Design of Structures and Machines

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“…Parallel manipulators have many advantages in theory, 1 and one of the most outstanding potentials is the excellent acceleration ability. 2,3 Thus, the parallel manipulators have been continually tried to develop as some industrial applications which require high speed/acceleration in the past several decades, such as parallel/hybrid machining equipment, 4–7 industrial robots, 8–10 and motion simulators. 11,12 Dynamics is the decisive factor which affects the performance of these high-speed industrial equipment, and it has great significance to carry out dynamics research of parallel manipulators.…”

Section: Introductionmentioning

confidence: 99%

Dynamics evaluation of parallel manipulators considering gravity and driving force uniformity

Wang

Jun

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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Dynamics evaluation is one of the core research contents of robotics, especially for the parallel manipulators, which are usually working with high acceleration. The general dynamics evaluation methods mainly deal with the acceleration of end-effector and magnitude of driving force based on the general inertia/mass matrix, and ignore the gravity. However, with the change of the placement mode of a parallel manipulator, the gravity would have a great effect on the dynamics of a heavy parallel manipulator. On the other hand, there still some other properties should be evaluated, such as the acceleration sensitivity of each driving shaft caused by gravity, the driving force uniformity when driving force achieves its maximum value. For these reasons, this paper investigates a dynamics evaluation method considering gravity and driving force uniformity. First, the limitations of general evaluation methods are described; next, the proposed dynamics evaluation method is given, including acceleration sensitivity analysis and the driving force uniformity; finally, by taking a typical horizontal parallel tool head as an example of study, a complete dynamics evaluation work is performed by using the proposed method.

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“…Another approach is to develop novel transmission mechanisms to cut down the capacities of PMSMs. Guo and colleagues [15][16][17] proposed a parallel kinematic mechanism (PKM)-type transmission mechanism based on a parallel mechanism and a dual screw transmission mechanism. Sun et al 18 and Suzuki and Hata 19 adopted double reducing mechanisms to increase reduction ratio.…”

Section: Introductionmentioning

confidence: 99%

High mechanical advantage design of six-bar Stephenson mechanism for servo mechanical presses

Sun

Cheng

2016

Advances in Mechanical Engineering

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This article proposed a two-phase design scheme of Stephenson six-bar working mechanisms for servo mechanical presses with high mechanical advantage. In the qualitative design phase, first, a Stephenson six-bar mechanism with a slide was derived from Stephenson six-bar kinematic chains. Second, based on the instant center analysis method, the relationship between mechanical advantage and some special instant centers was founded, and accordingly a primary mechanism configuration with high mechanical advantage was designed qualitatively. Then, a parameterized prototype model was established, and the influences of design parameters toward slide kinematical characteristics were analyzed. In the quantitative design phase, a multi-objective optimization model, aiming at high mechanical advantage and dwelling characteristics, was built, and a case design was done to find optimal dimensions. Finally, simulations based on the software ADAMS were conducted to compare the transmission characteristics of the optimized working mechanism with that of slide-crank mechanism and symmetrical toggle mechanism, and an experimental press was made to validate the design scheme. The simulation and experiment results show that, compared with general working mechanisms, the Stephenson six-bar working mechanism has higher mechanical advantage and better dwelling characteristics, reducing capacities and costs of servo motors effectively.

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Kinematic and dynamic analyses of the multi-actuated mechanical press with parallel topology

Cited by 10 publications

References 22 publications

Number Synthesis of Parallel Robotic Mechanisms

Number Synthesis of Parallel Robotic Mechanisms

Dynamics evaluation of parallel manipulators considering gravity and driving force uniformity

High mechanical advantage design of six-bar Stephenson mechanism for servo mechanical presses

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