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Simulation of machining 3D free-form surface in normal direction using 6-SSP and 4SPS+UPU parallel machine tools

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Abstract

A novel 6-SSP parallel machine tool and a novel 4SPS+UPU parallel machine tool are presented, and a novel CAD approach is proposed to machine a 3D free-form surface in its normal direction by using the two parallel machine tools. First, by adopting the CAD geometry constraint and dimension-driving technique, the simulation mechanisms of a 6-SSP parallel manipulator with 6-DOF and a 4SPS+UPU parallel manipulator with 5-DOF are created. Second, a 3D free-form surface and a guiding plane of tool path are constructed above the moving platform of the two simulation mechanisms. Third, the tool axis of simulation parallel machine tool is retained perpendicular to the 3D free-form surface. In the light of two prescribed tool paths, the driving limbs and the pose of the moving platform of parallel machine tools are solved automatically and visualized dynamically.

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Abbreviations

s :

The 3D free-form surface

B :

The base

M :

The simulation parallel machine tool

P 0 :

The guiding plane of tool path curve

P:

The prismatic joint

S:

The sphere joint

U:

The universal joint

T :

The cutter tool

p :

The tip of tool

g :

The guiding line of tool

dx,dy:

Two driving dimensions

⊥,//:

Perpendicular and parallel symbols

F :

The numbers of degree of freedom

r i :

The driving limb i=1, 2,…, 6

m :

The moving platform

l i :

Sideline of m

w :

The prescribed tool path curve

L :

Sideline of base B

u j :

Prescribed spline on P j j=1, 2, … k

P j :

Datum plane for sketching spline u j

o :

The central point of m

O :

The central point of base

α,β,γ:

The 3 orientation components of T

c i :

Binary link i=1, 2, …, 6

XoYo,Zo:

The 3 translation components of m

F o :

Local redundant degree of freedom

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Authors and Affiliations

  1. Robotics Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, People’s Republic of China

    Yi Lu

Authors
  1. Yi Lu
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Correspondence to Yi Lu.

Additional information

This project is supported by NSFC 50575198

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Lu, Y. Simulation of machining 3D free-form surface in normal direction using 6-SSP and 4SPS+UPU parallel machine tools. Int J Adv Manuf Technol 33, 1180–1188 (2007). https://doi.org/10.1007/s00170-006-0547-x

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  • DOI: https://doi.org/10.1007/s00170-006-0547-x

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