Abstract
A novel parallel mechanism with one translational and two rotational coupling degrees of freedom, which can be utilized as the main body module for application in hybrid kinematic machine, is proposed. The inverse kinematics is systematically established based on the closed-loop vector method. In terms of the principle of virtual work and d’Alembert’s formulation, the dynamics formulation is deduced in sequence. Finally, the illustrative simulation example is conducted to demonstrate the analytic results of the kinematics and dynamics, and the analytical solutions are verified by Simulink and Recurdyn collaborative simulation. Simultaneously, the dynamic dexterity is further conducted to evaluate the performance, and the results show that the proposed parallel mechanism has greater dynamic performance, which can be demonstrated practically by the alternative application of the parallel kinematic module for the hybrid machine tool.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Assal, S.: A novel planar parallel manipulator with high orientation capability for a hybrid machine tool: kinematics, dimensional synthesis and performance evaluation. Robotica 35, 1031–1053 (2017)
Xu, P., Cheung, C., Li, B., Zhang, F.: Kinematics analysis of a hybrid manipulator for computer controlled ultra-precision freeform polishing. Robot. Comput. Integr. Manuf. 44, 44–56 (2017)
Wu, Y., Yang, Z., Fu, Z.: Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot. Int. J. Adv. Robot. Syst. 5, 1–8 (2017)
Enferadi, J., Shahi, A.: On the position analysis of a new spherical parallel robot with orientation applications. Robot. Comput. Integr. Manuf. 37, 151–161 (2016)
Zhang, H., Fang, H., Fang, Y.: Workspace analysis of a hybrid kinematic machine tool with high rotational applications. Math. Probl. Eng. 2018, 1–12 (2018)
Tasi, L.W., Joshi, S.: Kinematic analysis of 3-DOF position mechanisms for use in hybrid kinematic machines. J. Mech. Des. 124(2), 245–253 (2002)
Lai, Y., Liao, C., Chao, Z.: Inverse kinematics for a novel hybrid parallel–serial five-axis machine tool. Robot. Comput. Integr. Manuf. 50, 63–79 (2018)
Gao, Z., Zhang, D.: Performance analysis, mapping, and multiobjective optimization of a hybrid robotic machine tool. IEEE Trans. Ind. Electron. 62(1), 423–433 (2015)
Cheng, Y.M., Peng, W.X., Hsu, A.C.: Concentric hole drilling in multiple planes for experimental investigation of five-axis reconfigurable precision hybrid machine. Int. J. Adv. Manuf. Technol. 76, 1253–1262 (2015)
Coppola, G., Zhang, D., Liu, K.: A 6-DOF reconfigurable hybrid parallel manipulator. Robot. Comput. Integr. Manuf. 30(2), 99–106 (2014)
Xie, F.G., Liu, X.J., Zhou, Y.H.: Optimization of a redundantly actuated parallel kinematic mechanism for a 5-degree-of-freedom hybrid machine tool. Proc. Inst. Mech. Eng. Part B J. Eng. Manuf. 228(12), 1630–1641 (2014)
Sun, T., Song, Y., Li, Y., Zhang, J.: Workspace decomposition based dimensional synthesis of a novel hybrid reconfigurable robot. J. Mech. Robot. 2(3), 031009-1–8 (2010)
Zhang, H., Fang, H., Jiang, B.: Dynamic performance evaluation of a redundantly actuated and over-constrained parallel manipulator. Int. J. Autom. Comput. 16(3), 274–285 (2019)
Acknowledgement
The authors would like to acknowledge the financial support of the Fundamental Research Funds for the Central Universities under Grants No. 2018JBZ007, No. 2018YJS136, China Scholarship Council (CSC) under Grant No. 201807090079, the Natural Sciences and Engineering Research Council of Canada (NSERC), and the York Research Chairs (YRC) program. Meanwhile, the author, Haiqiang Zhang, is grateful to advanced robotics and mechatronics laboratory in York University.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Zhang, H., Fang, H., Zhang, D., Luo, X., Zhao, F. (2020). Kinematics and Dynamics Simulation Analysis of a 3-DOF Parallel Mechanism for Application in Hybrid Machine. In: Wang, D., Petuya, V., Chen, Y., Yu, S. (eds) Recent Advances in Mechanisms, Transmissions and Applications. MeTrApp 2019. Mechanisms and Machine Science, vol 79. Springer, Singapore. https://doi.org/10.1007/978-981-15-0142-5_25
Download citation
DOI: https://doi.org/10.1007/978-981-15-0142-5_25
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-0141-8
Online ISBN: 978-981-15-0142-5
eBook Packages: EngineeringEngineering (R0)