Configuration and Motion Modeling of a New Parallel Machine Tool Based on 3-RRRS Mechanism

Chunmei Pan; Ruolan Wang; Liwei Li; Liangwen Wang; Yalei Shi; Shizhao Zhang

doi:10.16578/j.issn.1004.2539.2022.08.008

您当前的位置：

首页 >

文章列表页 >

Configuration and Motion Modeling of a New Parallel Machine Tool Based on 3-RRRS Mechanism

Design· Calculation | 更新时间：2022-09-23

- Configuration and Motion Modeling of a New Parallel Machine Tool Based on 3-RRRS Mechanism
- Journal of Mechanical Transmission Vol. 46, Issue 8, Pages: 47-54(2022)
- 作者机构：
  
  1.许昌职业技术学院机电与汽车工程学院，河南许昌 461000
  2.郑州轻工业大学国际教育学院，河南郑州 450002
  3.郑州轻工业大学机电工程学院河南省机械装备智能制造重点实验室，河南郑州 450002
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.08.008
  CLC：
扫描看全文
潘春梅,王若澜,李立伟等.基于3-RRRS机构的新型并联机床构型及运动建模[J].机械传动,2022,46(08):47-54.

Pan Chunmei,Wang Ruolan,Li Liwei,et al.Configuration and Motion Modeling of a New Parallel Machine Tool Based on 3-RRRS Mechanism[J].Journal of Mechanical Transmission,2022,46(08):47-54.
潘春梅,王若澜,李立伟等.基于3-RRRS机构的新型并联机床构型及运动建模[J].机械传动,2022,46(08):47-54. DOI： 10.16578/j.issn.1004.2539.2022.08.008.

Pan Chunmei,Wang Ruolan,Li Liwei,et al.Configuration and Motion Modeling of a New Parallel Machine Tool Based on 3-RRRS Mechanism[J].Journal of Mechanical Transmission,2022,46(08):47-54. DOI： 10.16578/j.issn.1004.2539.2022.08.008.

摘要

提出了一种基于3-RRRS机构的并联机床构型。RRRS是由3个R副和1个S副组成的支链。3-RRRS机构在上下平台之间连接移动平台，实现移动平台相对于下平台的六维运动；安装在移动平台上的动力头完成机床的加工操作。RRRS运动支链的每个R副配备1个驱动动力，共有3个驱动；整个运动支链系统有9个驱动，具有从属驱动特性，使并联机床具有较大的工作空间和较好的运动动态特性。首先，介绍了新型机床的模块化结构；其次，对基于3-RRRS机构的机床进行建模分析，给出了机床操作中各机构变量的运动和控制模型；最后，给出计算实例，并用运动仿真对计算结果进行了验证。相关工作为后续设备的实际使用提供了理论依据。

Abstract

A novel parallel machine tool configuration is presented based on 3-RRRS mechanism. RRRS refers to kinematic pairs of a branched chain consisting of three R-pairs and an S-pair. The 3-RRRS mechanism connects a moving platform between top and bottom platforms，by which the six-dimensional motion of the moving platform relative to the bottom platform can be achieved. A power head installed on the moving platform completes the machining operation of the machine tool. Each R-pair in RRRS motion branch chain is equipped with a drive power where each motion consists of 3 drive pairs. The whole motion branch chain system has 9 driver variables and possesses sub-driver features，which make the parallel machine tool have a larger workspace and better motion and dynamic characteristics. Firstly，the modular structure of the novel machine tool is introduced. Secondly，the modeling analysis of the machine tool based on 3-RRRS mechanism is carried out and the motion and control models of each mechanism variables are given in machine tool operation. Finally，the calculation example is given and the result is verified by using a motion simulation. The related works provide a theoretical basis for the practical use of subsequent equipment.

关键词

并联机床3-RRRS机构模块化结构逆运动学建模与仿真

Keywords

Parallel machine tool3-RRRS mechanismModular constructionInverse kinematicsModeling and simulation

references

WU J，ZHANG B，WANG L.A measure for evaluation of maximum acceleration of redundant and nonredundant parallel manipulators［J］.Journal of Mechanisms and Robotics，2016，8（2）：021001.

WU J，YU G，GAO Y，et al.Mechatronics modeling and vibration analysis of a 2-DOF parallel manipulator in a 5-DOF hybrid machine tool［J］.Mechanism and Machine Theory，2018，121：430-445.

WU J，GAO Y，ZHANG B，et al.Workspace and dynamic performance evaluation of the parallel manipulators in a spray-painting equipment［J］.Robotics and Computer-Integrated Manufacturing，2017，44：199-207.

LIU H，HUANG T，KECSKEMÉTHY A，et al.Force/motion transmissibility analyses of redundantly actuated and overconstrained parallel manipulators［J］.Mechanism and Machine Theory，2017，109：126-138.

MERLET J，GOSSELIN C，HUANG T.Parallel mechanisms［M］//SICILIANO B，KHATIB O.Springer Handbook of Robotics.Berlin：Springer，2016：443-461.

BONEV I A，ZLATANOV D，GOSSELIN C M.Singularity analysis of 3-DOF planar parallel mechanisms via screw theory［J］.Journal of Mechanical Design，2003，125（3）：573-581.

RONCHI S，COMPANY O，PIERROT F，et al.PRP planar parallel mechanism in configurations improving displacement resolution［C］.International Conference on Positioning Technology，Hamamatsu，Japan，2004：279-284.

BONEV I.Planar parallel mechanism and method：US7707907 B2［P］.2010-05-04.

DARVEKAR S，RAO A B K，GANESH S，et al.Optimal design and development of a 2-DOF PKM-based machine tool［J］.The International Journal of Advanced Manufacturing Technology，2012，67（5/6/7/8）：1609-1621.

EBRAHIMI I，CARRETERO J A，BOUDREAU R.3-PRRR redundant planar parallel manipulator：inverse displacement，workspace and singularity analyses［J］.Mechanism and Machine Theory，2007，42（8）：1007-1016.

SHIN K，YI B，KIM W.Parallel singularity-free design with actuation redundancy：a case study of three different types of 3-degree-of-freedom parallel mechanisms with redundant actuation［J］.Proceedings of the Institution of Mechanical Engineers，Part C：Journal of Mechanical Engineering Science，2014，228（11）：2018-2035.

WU J，CHEN X，WANG L，et al.Dynamic load-carrying capacity of a novel redundantly actuated parallel conveyor［J］.Nonlinear Dynamics，2014，78（1）：241-250.

WU J，CHEN X，LI T，et al.Optimal design of a 2-DOF parallel manipulator with actuation redundancy considering kinematics and natural frequency［J］.Robotics and Computer-Integrated Manufacturing，2013，29（1）：80-85.

WU J，LI T，WANG J，et al.Performance analysis and comparison of planar 3-DOF parallel manipulators with one and two additional branches［J］.Journal of Intelligent & Robotic Systems，2013，72（1）：73-82.

WANG Y，BELZILE B，ANGELES J，et al.Kinematic analysis and optimum design of a novel 2PUR-2RPU parallel robot［J］.Mechanism and machine theory，2019，139：407-423.

YU S Q，CHEN W H，YANG G L，et al.Online motion monitoring for a class of 3-legged 6-DOF parallel robots［C］//Proceedings of the 2005 IEEE International Conference on Systems，Man and Cybernetic，October 12，2005，Waikoloa，HI，USA.New York：IEEE，2005：1634-1639.

YU J H，LI X F，ZHOU H，et al.Research on workspace of masticatory bionic robot based on the 3/3-RRRS parallel manipulator［J］.Advanced Materials Research，2013，655-657：1092-1095.

WANG L，WANG C，DU W，et al.Improved forward kinematic analysis of a reptile-like four-legged walking robot using a novel dimensionality-reduction method［J］.Proceedings of the Institution of Mechanical Engineers，Part C：Journal of Mechanical Engineering Science，2016，230（15）：2745-2754.

WANG X，CHEN X，LI P.A study of analytical forward kinematics of multi-legged walking robot location［J］.Machine Intelligence and Robtic Control，2004，6：29-37.

WANG L W，WANG T H，MENG F N，et al.Forward kinematic analysis of a 3-RRRS mechanism with subordinate driving variables using a computer-aided geometric method［J］.International Journal of Advanced Robotic Systems，2019，16（4）：1-22.

张豫徽，杨许，王良文，等.具有冗余驱动特征的3-RRRS机构的正运动学分析［J］.机械传动，2016，40（7）：42-46.

ZHANG Yuhui，YANG Xu，WANG Liangwen，et al.Forward kinematics analysis of 3-RRRS mechanism with redundant drive characteristic［J］.Journal of Mechanical Transmission，2016，40（7）：42-46.

王良文，李群涛，王新杰，等.爬行类四足仿生机器人的数字化建模与应用［J］.轻工学报，2016，31（2）：87-96.

WANG Liangwen，LI Quntao，WANG Xinjie，et al.Digital model and application of the reptile-like quadruped bionic robot［J］.Journal of Light Industry，2016，31（2）：87-96.

王良文，杜文辽，罗国富，等.一种基于3-RRRS机构的并联机床构型：CN105234685A［P］.2016-01-13.

WANG Liangwen，DU Wenliao，LUO Guofu，et al.A parallel machine tool configuration based on 3-RRRS mechanism：CN105234685A［P］.2016-01-13.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Structural Design and Training Planning for Ankle Rehabilitation Mechanisms

Singularity of Spatial 3-PRR Parallel Mechanism and Its Application in Irregular Surface Engraving Machine

Kinematics Analysis of Humanoid Robot based on Motion Capture Technology and Gait Simulation

Inverse Kinematical Solving and Trajectory Planning of Redundant Manipulator

Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization Algorithm

Related Author

No data

Related Institution

University of Chinese Academy of Sciences

Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences

School of Mechanical Engineering，North University of China

School of Mechatronics Engineering， Xinjiang University

College of Mechanical & Power Engineering，China Three Gorges University

⁰