Kinematics Analysis and Experimental Validation for a Hybrid Machining Unit with Redundantly Actuated Parallel Mechanism

Jun Zhang; Yufei Bao; Hanliang Fang; Jirui Diao

doi:10.16578/j.issn.1004.2539.2021.07.018

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Kinematics Analysis and Experimental Validation for a Hybrid Machining Unit with Redundantly Actuated Parallel Mechanism

Test·Analysis | 更新时间：2022-11-10

- Kinematics Analysis and Experimental Validation for a Hybrid Machining Unit with Redundantly Actuated Parallel Mechanism
- Journal of Mechanical Transmission Vol. 45, Issue 7, Pages: 122-127(2021)
- 作者机构：
  
  1.福州大学机械工程及自动化学院，福建福州 350116
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.07.018
  CLC：
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张俊,鲍雨菲,方汉良等.含冗余驱动并联机构的混联加工单元运动学分析及实验验证[J].机械传动,2021,45(07):122-127.

Zhang Jun,Bao Yufei,Fang Hanliang,et al.Kinematics Analysis and Experimental Validation for a Hybrid Machining Unit with Redundantly Actuated Parallel Mechanism[J].Journal of Mechanical Transmission,2021,45(07):122-127.
张俊,鲍雨菲,方汉良等.含冗余驱动并联机构的混联加工单元运动学分析及实验验证[J].机械传动,2021,45(07):122-127. DOI： 10.16578/j.issn.1004.2539.2021.07.018.

Zhang Jun,Bao Yufei,Fang Hanliang,et al.Kinematics Analysis and Experimental Validation for a Hybrid Machining Unit with Redundantly Actuated Parallel Mechanism[J].Journal of Mechanical Transmission,2021,45(07):122-127. DOI： 10.16578/j.issn.1004.2539.2021.07.018.

摘要

设计了一款以2UPR&2RPS冗余驱动并联机构为动力头的新型5自由度混联加工单元，并对其进行了运动学分析。首先，基于旋量理论计算混联加工单元的自由度，证实其具有空间两转动和三平动（2R3T）运动能力。其次，运用空间矢量法建立混联加工单元的运动学模型，推导出机构的位置正/逆解解析式。再次，基于分层搜索思想预估混联加工单元的工作空间，给出了5轴可达工作空间的分布。最后，通过开展实验样机的切削实验，验证了运动学分析的正确性。

Abstract

A novel 5-DOF hybrid machining unit is designed and its kinematics is analyzed， in which a 2UPR&2RPS redundantly actuated parallel mechanism is acting as the spindle head. Firstly， the degree of freedom of proposed hybrid machining unit is analyzed based on the screw theory， it is proved that it has two rotational and three translational （2R3T） motion abilities. Secondly， a kinematics model of the hybrid machining unit is established by means of space vector， the analytical inverse and forward position formulations are derived. Thirdly， the workspace of the hybrid machining unit is predicted based on the hierarchical search idea， the distribution of the 5-axis reachable workspace is given. Finally， a set of machining tests are conducted on a laboratory prototype to experimentally validate the correctness of aforementioned kinematic analyses.

关键词

混联加工单元冗余驱动并联机构运动学分析自由曲面S型试件

Keywords

Hybrid machining unitRedundantly actuated parallel mechanismKinematics analysisFree-form surfaceS-shape test piece

references

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王俊彦，苗鸿宾，倪璟.新型龙门式五轴联动混联机床机构设计及位置逆解研究［J］.机械传动，2017，41（1）：31-35.

WANG Junyan，MIAO Hongbin，NI Jing.Research of the mechanism design and inverse kinematics of a novel five-axis gantry hybrid machine tool［J］.Journal of Mechanical Transmission，2017，41（1）：31-35.

许文文，梅瑛，何镏源，等.新型五自由度混联机床机构动力学分析［J］.机械传动，2019，43（3）：119-122.

XU Wenwen，MEI Ying，He Liuyuan，et al.Dynamics analysis of a new five DOF hybrid machine tool［J］.Journal of Mechanical Transmission，2019，43（3）：119-122.

LIU Q，HUANG T.Inverse kinematics of a 5-axis hybrid robot with non-singular tool path generation［J］.Robotics and Computer Integrated Manufacturing，2019，56：140-148.

FAJARDO-PRUNA M，LOPEZ-ESTRADA L，PEREZ H，et al.Analysis of a single-edge micro cutting process in a hybrid parallel-serial machine tool［J］.International Journal of Mechanical Sciences，2019，151：222-235.

RUIZ A，CAMPA F，ROLDAN-PARAPONIARIS C，et al.Experimental validation of the kinematic design of 3-PRS compliant parallel mechanisms［J］.Mechatronics，2016，39：77-88.

BI Z M，JIN Y.Kinematic modeling of exechon parallel kinematic machine［J］.Robotics and Computer Integrated Manufacturing，2010，27（1）：186-193. （下转第147页）

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