Parallel Structures and Their Applications in Reconfigurable Machining Systems

Gopalakrishnan, Venkat; Fedewa, D.; Mehrabi, M.G.; Kota, Sridhar; Orlandea, Nicolae

doi:10.1115/1.1459468

Cited by 28 publications

(3 citation statements)

References 5 publications

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“…It is a famous component of the Smooth Technology package of the Mazak Co. [30,31]. According to Mazak, this CNC system has brought about a four-fold increase in the speed compared with the previous generation of machines [34]. The "smooth technology" platform is an umbrella term designating a fully integrated package involving machine design, engineering maintenance, CNC technologies and decision making.…”

Section: Sixth Stage (2000 -2013)mentioning

confidence: 99%

A Review and Analysis of the Historical Development Of Machine Tools Into Complex Intelligent Mechatronic Systems

Guergov

2018

Journal of Machine Engineering

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This paper presents an analytical review of the development of machine tools (MT) into complex mechatronic systems. The basic periods, inventions and achievements in their historical development are marked which are represented in seven stages depending on the most essential changes for each period. Other fundamental and important discoveries and inventions are given along with the immediate achievements and changes which have affected the development of MT. A diagram of the changes in the relationship between the MT mechanical, electronic and software components is presented depending on the rate of development of the different stages as well as an opinion is shared on the conceptual schema of the environment of a future intelligent MT.

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Section: Sixth Stage (2000 -2013)mentioning

confidence: 99%

A Review and Analysis of the Historical Development Of Machine Tools Into Complex Intelligent Mechatronic Systems

Guergov

2018

Journal of Machine Engineering

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“…mathematical representation using screw method for RMT (Moon and Kota, 2002), module reconfiguration machine tools (Padayachee et al, 2009), with industrial implementation-related barriers (Padayachee and Bright, 2012), and design methodology with optimum module selection (Chen et al, 2005). Whereas the positioning accuracy, performance evaluation and calibration of RMFs were covered in Gopalakrishnan et al (2002), Shirinzadeh and Tie (1995). This paper presents different configuration strategies, including system triggering, simulation and reprogramming tasks for execution.…”

Section: Concept Of Dependent Jointsmentioning

confidence: 99%

Concept of dependent joints in functional reconfigurable robots

Mekid

Shang

2015

Journal of Engineering, Design and Technology

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Purpose – The purpose of this paper is to discuss an example of modelling with experiments of robot prototype with dependent joint concept, including a full description of related functionalities. Reduction in active degrees of freedom in a machine can lead to improved accuracy, improved reliability and lower cost. The reconfiguration of machines and systems is a key technology for future responsive manufacturing systems. The concept of dependent joints helps to implement much specified sub-workspaces depending on functional needs in the machine. Design/methodology/approach – This is inherently made possible using smart mechanical concepts having embedded sensors and reconfigurable control systems. This paper introduces structural reconfiguration systems and discusses a sample approach to functional reconfiguration. Findings – A successful manipulator design with extended features when considering reduction in active degrees of freedom in a machine would lead to specific sub-workspace with improved accuracy, improved reliability and lower cost. Research limitations/implications – Reduction in active degrees of freedom in a machine can lead not only towards a dedicated functional workspace but also towards improved accuracy, improved reliability and lower cost. Originality/value – This paper is of value to engineers and researchers developing robotic manipulators for use in various aspects of industry.

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“…Several parallel kinematics machines have been studied and proposed for specific tasks like pick and place, laser pointing, spot welding, where the direct physical contact with the environment is very limited. Most researches are devoted to the problems of architectural synthesis and kinematic and structural optimisation (Gopalakrishnan et al , 2002; Clavel, 1989; Vischer and Clavel, 2000; DiGregorio, 2002; Carretero et al , 2000; Liu et al , 2001), without considering the aspects of dynamic control during operative and non‐operative movements. The use of compliance and impedance control in assembly tasks is critical for different reasons: the gears friction and mass inertia introduce internal force control issues; the use of force‐control loops around position loops leads to slow dynamic performance resulting in long assembly cycle‐time; contact instability may verify if the control gains are incorrect.…”

Section: Related Workmentioning

confidence: 99%

An impedance‐controlled parallel robot for high‐speed assembly of white goods

Bruzzone¹,

Molfino²,

Zoppi³

2005

Industrial Robot: An International Journal

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PurposeAims to discuss how impedance‐controlled parallel robots can effectively perform industrial assembly tasks.Design/methodology/approachA new purely translational parallel robot has been designed to fulfil the requirements of industrial assembly tasks. The kinematic and dynamic models of the robot have been obtained in analytic form. A full‐scale prototype has been realized within the Italian research programme PRIDE (Parallel Robots Interacting with Dynamic Environments). An impedance control algorithm based on the kinematic and dynamic models has been implemented on the control unit of the PRIDE prototype. The effectiveness of the impedance‐controlled PKM has been evaluated performing the assembly of white goods components.FindingsThe test results show that the combined use of impedance control and dynamic compensation applied to parallel kinematics machines allows to reduce remarkably the operational time compared to the currently used position‐controlled industrial robots.Research limitations/implicationsThe experimental tests on the PRIDE prototype show the overall industrial feasibility of impedance‐controlled parallel kinematics machines.Practical implicationsThe introduction of impedance‐controlled PKMs may improve, with a relatively low cost, the level of automation of several production plants in which delicate operations requiring force control are still executed manually.Originality/valueWhile there is a large number of existing position‐controlled PKMs, the experimental research about force‐controlled or impedance‐controlled PKMs is not widespread.

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Parallel Structures and Their Applications in Reconfigurable Machining Systems

Cited by 28 publications

References 5 publications

A Review and Analysis of the Historical Development Of Machine Tools Into Complex Intelligent Mechatronic Systems

A Review and Analysis of the Historical Development Of Machine Tools Into Complex Intelligent Mechatronic Systems

Concept of dependent joints in functional reconfigurable robots

An impedance‐controlled parallel robot for high‐speed assembly of white goods

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