Reconfigurable handling systems as an enabler for large components in mass customized production

Müller, Rainer; Esser, Martin; Vette, Matthias

doi:10.1007/s10845-012-0624-y

Cited by 40 publications

(18 citation statements)

References 12 publications

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“…With the advance of digital assembly technology for large components in the aerospace industry, in shipbuilding and the construction of rail vehicles, the pose alignment system based on parallel kinematic chains gradually obtains development and application [2]. Nowadays parallel mechanisms in aerospace for pose alignment are usually with several Prismatic-Prismatic-Prismatic-Spherical pairs (n-PPPS), and n represents the number of branch chain in one parallel mechanism [3].…”

Section: Introductionmentioning

confidence: 99%

Sensitivity Analysis of Pose Error of a 3-PPPS Parallel Mechanism

Zhang¹,

Li²

2017

dtetr

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Abstract. Pose error is one of the key performance factors for parallel mechanisms. This paper deals with sensitivity analysis of pose error of a 3-PPPS pose alignment for large components. First, the total differential method was taken to deduce the relationship between original errors and pose errors of the moving platform based on a parallel mechanism. Then, the sensitivity of original errors of the parallel mechanism to errors of the moving platform was expressed. Finally, the effects of the moving platform poses on the error sensitivities were studied. The results show that the sensitivity values of position errors are bigger than orientation errors' and the pose of moving platform has little effect on the error sensitivity, and established a foundation for the accuracy analysis of the 3-PPPS parallel mechanism.

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Section: Introductionmentioning

confidence: 99%

Sensitivity Analysis of Pose Error of a 3-PPPS Parallel Mechanism

Zhang¹,

Li²

2017

dtetr

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“…This makes them very inflexible in terms of variations of objects and tasks. Current automatic solutions to flexibility involve either adding active elements to the grippers in order to adjust to different part geometries or simply adding a variety of grippers adjacent to the robot that can be replaced via a robot-interface plate [7,8]. Exchanging grippers requires more factory space and consumes time for connecting and calibrations, and thus is costly.…”

Section: Introductionmentioning

confidence: 99%

A gripper design algorithm for grasping a set of parts in manufacturing lines

Sintov

Menassa

Shapiro

2016

Mechanism and Machine Theory

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“…Considering the special construction of the wing section, a spherical ball bearing joint with a vacuum cup is equipped at the top end of z-axis of the digital alignment-positioner, and the swiveling range of the spherical ball bearing joint is 15 . 17 So each digital alignmentpositioner could be treated as a parallel branch with PPPS pairs. Pose alignment algorithm for the DAPD For convenience, the coordinate systems o-xyz and o'-uvw are located at the fixed platform and the gravity center of the wing section separately, and then the relationship between the fixed platform and the wing section could be described by a position vector r and an posture vector p. The vector r ¼ ½ p x p y p z T describes the relative position of the origin of the fixed platform coordinate frame with respect to the origin of the wing section coordinate frame and the vector p describes the relative posture.…”

Section: Introductionmentioning

confidence: 99%

Optimal selection of the supporting points of large component aligned and positioned by parallel manipulator

Zhang

Jiang

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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Large components such as wing sections should be aligned and positioned in a desired position prior to the final manufacturing or assembly, so a digital alignment and position device based on six degree of freedom parallel manipulator with several prismatic-prismatic-prismatic-spherical branches was designed and fabricated to meet the needs. The digital alignment and position device is an alignment device based on the parallel manipulator, and it is also a positioning and holding fixture for large components manufacturing or assembly. In order to effectively and efficiently select the supporting points of large component where the digital alignment and position device branch is connected with, the performance of the parallel manipulator and the fixture should be comprehensively analyzed at the same time. The global performance indices such as the dexterity index, the bearing capacity index, and the stiffness index are calculated based on the mechanism Jacobean matrix of the parallel manipulator, and the positioning stability index is calculated based on the position Jacobean matrix of the fixture. The results show that the global performance indices are not related to the pose, but the positioning stability index is; in addition, all indices rely on the originally selected supporting points and provide the basis for the effective selection of the supporting points for large component aligned and positioned by the digital alignment and position device, which is based on parallel manipulator with prismaticprismatic-prismatic-spherical pairs.

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Reconfigurable handling systems as an enabler for large components in mass customized production

Cited by 40 publications

References 12 publications

Sensitivity Analysis of Pose Error of a 3-PPPS Parallel Mechanism

Sensitivity Analysis of Pose Error of a 3-PPPS Parallel Mechanism

A gripper design algorithm for grasping a set of parts in manufacturing lines

Optimal selection of the supporting points of large component aligned and positioned by parallel manipulator

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