Putting Parallel Kinematics Machines (PKM) to Productive Work

Rehsteiner, F.; Neugebauer, Reimund; Śpiewak, S.; Wieland, F.

doi:10.1016/s0007-8506(07)63199-0

Cited by 39 publications

(17 citation statements)

References 2 publications

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“…They concluded that, contrary to expectations, the parallel kinematic mechanism (PKM) introduces additional flexibility for machine tool applications. The use of machine tools with PKM in productive industrial work is studied by Rehsteiner et al [7]. They shared the results from users and manufacturers of such machine tools and suggested ways to improve the use of PKM in machining.…”

Section: Introductionmentioning

confidence: 99%

Investigation of the effects of Stewart platform-type industrial robot on stability of robotic milling

Tunç

Shaw

2016

Int J Adv Manuf Technol

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Mobile machining with industrial robots is proposed as a cost-effective and portable manufacturing alternative to large scale CNC machine tools in large-scale part manufacturing. Robotic milling, one of the widely used mobile machining approaches, involves several technical challenges and distinct characteristics in terms of machining dynamics and stability due to completely different structural build up. In this paper, distinctive effects of Stewart platform-type of hexapod robot on stability of robotic milling is investigated based on characterisation of its structural dynamics, simulation of stability limits and experimental validation. Three aspects are demonstrated: (1) the positiondependent stability diagrams due to the position-dependent dynamics of the hexapod platform, (2) the effects of cross transfer function due to the complex kinematic chain on milling stability and (3) the role of feed rate direction in stability of robotic milling. The conditions for minimised positiondependent stability through appropriate tooling are also illustrated through simulations and experimental verification. The cases where process stability may be governed by either the hexapod robot or the cutting tool modes are discussed and identified through stability analysis. It is shown that the feed rate direction becomes a significant parameter for stability limits in robotic milling. The conditions at which the cross transfer function becomes significant on milling stability are discussed through simulations and experimental results. It is shown that cross transfer functions may significantly affect milling stability especially when the radial depth of cut is less than 50 % of the tool diameter. As one of the important outcomes of this research, it is found that appropriate tooling may decrease the reliance of milling stability on robot position.

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Section: Introductionmentioning

confidence: 99%

Investigation of the effects of Stewart platform-type industrial robot on stability of robotic milling

Tunç

Shaw

2016

Int J Adv Manuf Technol

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“…Parallel kinematic machines (PKMs) shows the huge potential to meet these requirements [2], and they have attracted a lot of attention from universities to industries over the last three decades. Numerous types of PKMs have been proposed in literature, but few of them have been successfully commercialized and utilized in production [3]. The major reason for that is the small workspace and the limited flexibility.…”

Section: Introductionmentioning

confidence: 99%

Optimal Design of a New Parallel Kinematic Machine for Large Volume Machining

Jin

Higgins

et al. 2012

Advances in Reconfigurable Mechanisms and Robots I

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Although numerous PKM topologies have been invented recently, few of them have been successfully put into production. A good topology can only provide good performance unless its geometrical parameters are optimized. This paper studies the dimensional synthesis of a new PKM which has shown great potential for large volume high performance manufacturing. A new optimization approach is proposed for design optimization, with a new performance index composed of weight factors of both Global Conditioning Index (GCI) and actuator stroke. Maximizing GCI will ensure the effectiveness of the workspace, while minimizing actuator stroke leads to reduced machine cost and increased efficiency. Results show that the proposed optimization method is valid and effective. The PKM with optimized dimensions has a large workspace to footprint ratio and a large wellconditioned workspace, which ensures its suitability for large volume machining.

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“…In addition to the advantages offered by fixed leg lengths, hexaglide and triaglide mechanisms [4,5] are examples where parallel guide-ways are used and where workspace extension is achieved by elongation of one axis as a principal motion axis that is a common feature of all serial structured machines.…”

Section: Introductionmentioning

confidence: 99%