Kinematic design of a novel 4-DOF parallel mechanism for turbine blade machining

Ghaffari, Hiwa; Payeganeh, G.H.; Arbabtafti, Mohammadreza

doi:10.1007/s00170-014-6015-0

Cited by 10 publications

(7 citation statements)

References 9 publications

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“…Among which, one of the most commonly used workspaces is the constant-orientation workspace, which can be obtained as the location of point o when the MP is kept at a constant orientation. Actually, some methods, like discretization method, geometrical method and numerical method [30,31], are often used to solve the workspaces. Thereinto, the discretization method is a simple way to determine the workspaces of PMs.…”

Section: Workpace Analysis Of the Hybrid Manipulatormentioning

confidence: 99%

Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

Zhang

Yao

et al. 2018

Chin. J. Mech. Eng.

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Hybrid manipulators have potentially application in machining industries and attract extensive attention from many researchers on the basis of high stiffness and high dexterity. Therefore, in order to expand the application prospects of hybrid manipulator, a novel 5-degree-of-freedom (DOF) hybrid serial-parallel manipulator (HSPM) is proposed. Firstly, the design plan of this manipulator is introduced. Secondly, the analysis of this manipulator is carried out in detail, including kinematics analysis, statics analysis, and workspace analysis. Especially, an amplitude equivalent method of disposing the over-constrained force/couple to the non-overconstrained force/couple is used in the statics analysis. Then, three performance indices are used to optimize the PM. Two of them have been widely used, and the third one is a new index which considers the characteristics of the actuated force. Based on the performance indices, the performance atlas is drawn and the optimal design of the PM is investigated. In order to satisfy the anticipant kinetic characteristics of the PM, the verification of the optimized physical dimension is done and the workspace based on the optimized physical dimension is carried out. This paper will lay good theoretical foundations for application of this novel HSPM and also can be applied to other hybrid manipulators.

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Section: Workpace Analysis Of the Hybrid Manipulatormentioning

confidence: 99%

Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

Zhang

Yao

et al. 2018

Chin. J. Mech. Eng.

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show abstract

“…Instead, few works have considered a design for application approach. That is, for turbine blade machining in [18] and automated fiber placement in [19]. In the latter reference, authors found the layout of the manipulator through optimization.…”

Section: Introductionmentioning

confidence: 99%

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Araujo-Gómez

Díaz‐Rodríguez

Mata

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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The need of a device providing two translational (2T) and two rotational (2R) movements led us to the design a 3UPS-1RPU parallel manipulator. The manipulator consisted on a mobile platform connected to a base through four legs. That is, the manipulator layout has one central leg and three external legs at the same radial distance. By studying different locations of the legs anchoring point, we improved the first layout design, yet not the optimal one. On this basis, this paper focus on the optimal dimensional design of the manipulator. To this end, we put forward the kinematics equations of the manipulator in accordance to the anchoring points coordinates. Through a numerical approach, the equations enable to find the manipulator workspace. Also, we find a global manipulability index using a local dexterity measure. The latter index serves as optimal function. The optimization process considers joint constraints. Thus, we built a nonlinear optimization problem solved through sequential quadratic programming algorithms. We start by optimizing only a small set of parameters rather than the entire set, which gives us insights on the initial guess to optimize using the entire set. The optimal design layout varies from the original layout. Findings suggest that a task-oriented reconfiguration strategy can improve manipulator performance.

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“…It belongs to the kinematic method and directly determines the worst contact condition of the motion pair with clearance, which is the cause of the maximum position error (Amir and Alireza, 2015). The reference (Huang et al, 2011) analyzed the error of parallel manipulators with a chain gap and put forward a general error prediction model that the maximum error prediction problem represented a standard convex optimization problem, which can be used for planar or spatial, constraints or non over con-strained manipulators. Taking the robot, parallel manipulator with parallel edges and the translational degree of freedom as an example, this paper gives the derivation method of the maximum position error in the general configuration and the given working space.…”

Section: Introductionmentioning

confidence: 99%

Research on Influence of Joint Clearance on Precision of 3-TPT Parallel Robot

Zhu

Zhao

2019

Mech. Sci.

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Abstract. The error model of the working accuracy of parallel mechanism was established in this paper. The D-H matrix method and error independent method were used to analyze the clearance error of mechanism joint based on the inverse position kinematics solution. The theoretical model describing the position error of the moving platform position error affected by its joint clearance was developed when the moving platform was parallel to fixed platform in the ideal state; the clearance error model of 3-TPT Parallel mechanism was established based on D-H matrix method and error independent method while the joint clearance error source was given. The effect of joint clearance error on the working accuracy of 3-TPT parallel mechanism was analyzed by Monte Carlo method. The effect of posture error due to revolution of the moving platform about coordinate axis on the error of parallel mechanism was simulated and analyzed based on D-H matrix method in the non-ideal state.

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Kinematic design of a novel 4-DOF parallel mechanism for turbine blade machining

Cited by 10 publications

References 9 publications

Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Research on Influence of Joint Clearance on Precision of 3-TPT Parallel Robot

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