This paper presents a five degree of freedom (5-DOF) redundantly actuated parallel mechanism (PM) for the parallel machining head of a machine tool. A 5-DOF single kinematic chain is evolved into a secondary kinematic chain based on Lie group theory and a configuration evolution method. The evolutional chain and four 6-DOF kinematic chain SPS (S represents spherical joint and P represents prismatic joint) or UPS (U represents universal joint) can be combined into four classes of 5-DOF redundantly actuated parallel mechanisms. That SPS-(2UPR)R (R represents revolute joint) redundantly actuated parallel mechanism is selected and is applied to the parallel machining head of the machine tool. All formulas of the 4SPS-(2UPR)R mechanism are deduced. The dynamic model of the mechanism is shown to be correct by Matlab and automatic dynamic analysis of mechanical systems (ADAMS) under no-load conditions. The dynamic performance evaluation indexes including energy transmission efficiency and acceleration performance evaluation are analyzed. The results show that the 4SPS-(2UPR)R mechanism can be applied to a parallel machining head and have good dynamic performance.
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This work was supported by the Fundamental Research Funds for the Central Universities (No. 2018 JBZ007).
Bing-Shan Jiang received the B. Eng. degree in mechanical electronic engineering from Liaoning Technical University, China in 2015, and the M. Eng. degree in mechanical engineering from Liaoning Technical University, China in 2017. He is currently a Ph. D. degree candidate at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China. His research interests include synthesis, kinematics, dynamics and control of parallel robots.
Hai-Rong Fang received the B. Eng. degree in mechanical engineering from Nanjing University of Science and Technology, China in 1990, the M. Eng. degree in mechanical engineering from Sichuan University, China in 1996, and the Ph. D. degree in mechanical engineering from Beijing Jiaotong University, China in 2005. She worked as an associate professor in Department of Engineering Mechanics, Beijing Jiaotong University, China, from 2003 to 2011. She is a professor in School of Mechanical Engineering from 2011 and director of the Robotics Research Center.
Her research interests include parallel mechanisms, digital control, robotics and automation, and machine tool equipment.
Hai-Qiang Zhang received the B. Eng. degree in mechanical design and theories from Yantai University, China in 2012, the M. Eng. degree in mechanical engineering from Hebei University of Engineering, China in 2015. He is a Ph. D. degree candidate in mechanical design and theory at Beijing Jiaotong University, China.
His research interests include robotics in computer integrated manufacturing, parallel kinematics machine tool, redundant actuation robots, over-constrained parallel manipulators, and multi-objective optimization design.
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Jiang, BS., Fang, HR. & Zhang, HQ. Type Synthesis and Dynamics Performance Evaluation of a Class of 5-DOF Redundantly Actuated Parallel Mechanisms. Int. J. Autom. Comput. 18, 96–109 (2021). https://doi.org/10.1007/s11633-020-1255-y
- Type synthesis
- redundantly actuated parallel mechanism (PM)
- lie group theory
- configuration evolution
- dynamics performance evaluation