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Design of a novel 3-DoF parallel kinematic mechanism: type synthesis and kinematic optimization

Published online by Cambridge University Press:  05 March 2014

Fugui Xie ,
Xin-Jun Liu  and
Chao Wang
Fugui Xie*
Affiliation:
The State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China Department of Precision Instruments, Tsinghua University, Beijing 100084, China
Xin-Jun Liu
Affiliation:
The State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China
Chao Wang
Affiliation:
The State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
*
*Corresponding author. E-mail: xiefg@mail.tsinghua.edu.cn
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Summary

This paper deals with the design of a three-degree-of-freedom (3-DoF) parallel kinematic mechanism (PKM) with high orientational capability. First, a type synthesis method based on Grassmann line geometry and a line-graph method is proposed, and a novel 3-DoF PKM is derived based on this method. Thereafter, the parasitic motions of the derived mechanism are identified under two different orientation description methods, i.e., Tilt-and-Torsion angles (T&T angles) and Roll-Pitch-Yaw angles (RPY angles), and the kinematic optimization considering the motion/force transmissibility is carried out. On this basis, the orientational capability of the discussed mechanism is investigated, and the high orientational capability is demonstrated. The design of the 3-DoF PKM in this paper is very meaningful to the development of the five-axis machine tools with hybrid architectures. The design methods of type synthesis and kinematic optimization can also be used in the design of other PKMs.

Keywords

Parallel kinematic mechanismType synthesisParasitic motionKinematic optimization
Type
Articles
Information
Robotica , Volume 33 , Issue 3 , March 2015 , pp. 622 - 637
Copyright
Copyright © Cambridge University Press 2014 

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