Dimension Synthesis of a 5-Axis Parallel Machine Tool
PENG Bin-bin1, GAO Feng2
1. School of Mechanical Engineering, Beihang University, Beijing 100083, China; 2. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, China
Abstract：Based on the inverse thought,an approach is presented for the dimension synthesis of a 5-axis parallel machine tool to satisfy the requirements of workspace.Firstly,the orientation workspace of the parallel machine tool is described with the polar coordinate.Then,the extreme value expressions of distance between the joints on the moving platform and the joints on the fixed platform are obtained based on the requirement of workspace.Finally,the dimensional parameters of the parallel machine tool with better performance are obtained considering the strut force transmission performance.This approach provides a high reference value for dimension synthesis of the other parallel kinematic mechanism similar to it.
[1] El-Khasawneh B S,Tajbakhsh H,Ferreira P M.On using parallel link manipulators as machine tools[J]. Transactions of the NAMRI/SME,1997,25:305-310. [2] Hesselbach J,Plitea N,Frindt M,et al.A new parallel mechanism to use for cutting convex glass panels[A]. Proceedings of the 6th Intemational Symposium on Advances in Robot Kinematics[C]. Strobl:Kluwer Academic Publisher,1998.165-174. [3] Zhao Y S,Li Q C,Zheng K J.A novel 5-axis parallel machine tool family[A]. Proceedings of the 11th World Congress in Mechanism and Machine Science[C]. Tianjin:China Machine Press,2004.1588-1591. [4] 高峰,刘辛军,金振林,等.五自由度五轴并联虚拟轴机床[P]. 中国:CN1258585,2000. [5] Zanganeh K E,Angeles J.Kinematic isotropy and the optimum design of parallel manipulators[J]. The International Journal of Robotics Research,1997,16(2):185-197. [6] Huang T,Whitehouse D J,Wang J S.Local dexterity optimum architecture and design criteria of parallel machine tools[J]. The Cooperative Institutional Research Program Annals,1998,47(1):347-351. [7] Stoughton R S,Arai T.A modified Stewart platform manipulators with improved dexterity[J]. IEEE Journal of Robotics and Automation,1993,9(2):166-172. [8] Bbattacharaya S,Hatwal H,Ghosh A.On the optimum design of Stewart platform type parallel manipulators[J]. Robotica,1995,13(2):133-140. [9] 黄田,汪劲松.Stewart并联机器人局部灵活度与各向同性条件解析[J]. 机械工程学报,1999,35(5):41-46. [10] 吴振勇,王玉茹,黄田.Tricept机器人的尺度综合方法[J]. 机械工程学报,2003,39(6):22-25.
