Type synthesis of 2T1R-type parallel kinematic mechanisms and the application in manufacturing

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1、RoboticsandComputer-IntegratedManufacturing30(2014)1–10ContentslistsavailableatScienceDirectRoboticsandComputer-IntegratedManufacturingjournalhomepage:www.elsevier.com/locate/rcimTypesynthesisof2T1R-typeparallelkinematicmechanismsandtheapplicationinmanufacturinga,c,

2、na,bcaFuguiXie,Xin-JunLiu,ZhengYou,JinsongWangaDepartmentofMechanicalEngineering,TsinghuaUniversity,Beijing100084,ChinabBeijingKeyLabofPrecision/Ultra-precisionManufacturingEquipmentsandControl,TsinghuaUniversity,Beijing100084,ChinacDepartmentofPrecisionInstruments,

3、TsinghuaUniversity,Beijing100084,ChinaarticleinfoabstractArticlehistory:Thispaperinvestigatesthetypesynthesisof2T1R-type(T:translationaldegreeoffreedom(DoF)andReceived6November2012R:rotationalDoF)parallelkinematicmechanisms(PKMs).AtypesynthesismethodbasedonGrassmann

4、ReceivedinrevisedformLineGeometryandLine-graphMethodisintroduced.SomebasiccriterionsofGrassmannLineGeometry5May2013arebrieflysummarized,andtheLine-graphMethodispresentedsequentially.InordertouncovertheAccepted11July2013relationshipbetweenDoF-linegraphandconstraint-li

5、negraph,thedualruleisbroughtinandexplainedAvailableonline31July2013indetail.Basedonthesefoundations,thetechnologicalprocessofthetypesynthesisisgiven.Thereafter,Keywords:thetypesynthesisof2T1R-typePKMsiscarriedoutandtheresultsarelisted.TakenasanapplicationParallelkin

6、ematicmechanismexample,asynthesized3-DoFmechanismischosenastheparallelmoduleofafive-axishybridmachineTypesynthesistool,whichiscapableoffive-facemachininginonesetup.ThedevelopedprototypeisintroducedandHybridmachinetoolappliedintothemachiningofapartwithfreeformsurfaces.

7、ThepresentedtypesynthesismethodisFive-facemachiningconciseandcanbeusedinthetypesynthesisofotherPKMs.&2013ElsevierLtd.Allrightsreserved.1.IntroductionTriceptmachinecontainsaparallelmodulewiththreetransla-tionalDoFsandaseriallyaddedarticulatedheadwithtwoAstheincreasin

8、gneedfortheprocessingofcomplexpartswithrotationalDoFs,itsconfigurationcanberepresentedbyP{3T}&Sfreeformsurfaces,suchastheturbinesandmarinep