Workspace and dexterity analyses of hexaslide machine tools

Rao, A. B. Koteswara; Rao, P. V. M.; Saha, Subir Kumar

doi:10.1109/robot.2003.1242228

Cited by 12 publications

(9 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The better performance of isotropy is connected with a larger number of GCI. Besides, the condition number is also commonly used to evaluate the singularity, [14][15][16] dexterity, 3,6,17 and accuracy 9 of a manipulator.…”

Section: Derivation Of the Evaluation Index Based On The Jacobian Matrixmentioning

confidence: 99%

Optimal design of a Stewart platform using the global transmission index under determinate constraint of workspace

Xie

Liu

et al. 2017

Advances in Mechanical Engineering

View full text Add to dashboard Cite

The Stewart platform is a typical parallel manipulator. It is used as a space docking mechanism whose requirement for movement scope is determinate. This article addresses the dimension synthesis of the space docking mechanism. First, this article compares the common indexes used to evaluate the performance of parallel manipulator. These indexes can mainly be divided into two types. The evaluation indexes based on the Jacobian matrix, including the singular value index, the manipulability index, and condition index, are derived from the Jacobian matrix of the manipulator, and the transmissibility indexes, such as pressure angle, transmission angle, and motion/force transmission index, lay emphasis on the power transmission ability of manipulator. This article proposes the global transmission index under determinate constraint of workspace on the basis of the previous transmissibility indexes to evaluate the performance of parallel manipulator whose workspace is determinate and movement is the combination of translation and rotation. And the optimization design of the manipulator is carried out by taking the global transmission index under determinate constraint of workspace into account. The detailed process of determining the optimal configuration for the Stewart manipulator used as space docking mechanism is presented. The optimal result is gotten, which has a large value of global transmission index under determinate constraint of workspace in the required workspace, and a simulation is carried out to verify the validity of the optimal result.

show abstract

Section: Derivation Of the Evaluation Index Based On The Jacobian Matrixmentioning

confidence: 99%

Optimal design of a Stewart platform using the global transmission index under determinate constraint of workspace

Xie

Liu

et al. 2017

Advances in Mechanical Engineering

View full text Add to dashboard Cite

show abstract

“…Therefore, the workspace analysis is reduced to the analysis of a planar cross-section, the boundary of which can be searched for in a polar coordinate system. This feature also means that the workspace analysis of a general Hexaslide (including HexaM [17], [18], Hexapod [19] and Hexaglide) by Rao in [20] and [? ] does not apply to the Hexaglide.…”

Section: A Workpace Without Orientation Requirementmentioning

confidence: 99%

Analysis of a New Workspace of the Hexaglide as a Motion Simulator for Fuel Tanker Trucks

Kong

Zhang

Sun

et al. 2007

Mechatronics, 2007 IEEE International Conference On

View full text Add to dashboard Cite

The Hexaglide is a 6-DOF fully parallel mechanism characterized by six length-constant legs and three parallel guide rails. The application of this architecture for simulating the motions of fuel tanker trucks is firstly presented. The kinematic model of the simulator is established, the inverse kinematics is analyzed, and the kinematic constraints are summarized. Then a new type of workspace called the position workspace with a specified orientation requirement is proposed, which takes into account the strong coupling between position workspace and orientation workspace. And two approaches to obtaining this workspace are also developed and demonstrated by the preliminary workspace analysis of the simulator.

show abstract

“…This is the ratio of workspace volume to the size of the hexaslide [20] where the size of the hexaslide is the volume of Downloaded by [Anadolu University] at 09:00 20 December 2014 Table 2.…”

Section: Typical Hexaslides and Performance Measures For Comparisonmentioning

confidence: 99%

“…The GDI, introduced in Ref. [28], considers the dexterity of the manipulator over the entire workspace [20,29] or a reasonable central portion of the workspace [30], and is given by…”

Section: Modulus Of Elasticity and Stiffness Of Various Elementsmentioning

confidence: 99%

See 1 more Smart Citation

Stiffness analysis of hexaslide machine tools

Rao¹,

Saha²,

Rao³

2005

Advanced Robotics

View full text Add to dashboard Cite

This paper presents stiffness analysis of hexaslides, a class of parallel manipulators with six constant length legs, the base joints of which move along six distinct rail-axes. In the design of hexaslides for machine tool applications, stiffness as well as its variation within the workspace is important. The stiffness of any parallel kinematic machine and, thus, the accuracy depends on the pose of the tool platform. A stiffness model of a generic hexaslide is developed here considering the flexibilities in both the actuator and the legs of the hexaslide. The methodology adopted is based on the concept of the determination of stiffness of a group of serially connected linear springs. Based on the proposed model, the average stiffness and its variation along and about the Cartesian coordinate axes offered by three typical hexaslides, having the same foot print size, are estimated and compared. Other typical performance indices, i.e. workspace volume, workspace volume index (ratio of workspace volume to machine size), global dexterity index and global stiffness index, are also compared.

show abstract

Workspace and dexterity analyses of hexaslide machine tools

Cited by 12 publications

References 14 publications

Optimal design of a Stewart platform using the global transmission index under determinate constraint of workspace

Optimal design of a Stewart platform using the global transmission index under determinate constraint of workspace

Analysis of a New Workspace of the Hexaglide as a Motion Simulator for Fuel Tanker Trucks

Stiffness analysis of hexaslide machine tools

Contact Info

Product

Resources

About