Abstract
In this work, we focus on the design and analysis of a new modular hybrid parallel-serial manipulator for robotised deburring of large jet engine components such as the fan, compressor, and turbine discs. The manipulator consists of a 3-DOF (degree-of-freedom) planar parallel platform and a 3-DOF serial robotic arm. Benefiting from the hybrid kinematic structure, the manipulator exhibits good performance inherited from both serial and parallel robots, e.g. larger workspace and higher dexterity (comparing to a parallel robot), and higher rigidity and higher loading capacity (comparing to a serial robot). Such features are ideal for deburring applications of large jet-engine components. In order to rapidly deploy a demonstration system, the modularity design concept is employed in the system development, which is able to reduce the complexity of the overall design problem to a manageable level. Based on the specific hybrid manipulator design, closed-form symbolic solutions are derived for both forward and inverse displacement analysis. Computation examples are provided to verify the proposed displacement analysis algorithms. To obtain the relationship between the end-effector’s velocity and the active-joint rates, the instantaneous kinematics model of this hybrid manipulator is formulated. These analysis algorithms are essential for the design optimisation, trajectory planning, computer simulation, and real-time control of this hybrid manipulator. Utilising the 6-DOF hybrid parallel-serial manipulator, a robotised deburring system is investigated for large jet-engine components.
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Yang, G., Chen, IM., Yeo, S.H., Lin, W. (2008). Design and Analysis of a Modular Hybrid Parallel-Serial Manipulator for Robotised Deburring Applications. In: Wang, L., Xi, J. (eds) Smart Devices and Machines for Advanced Manufacturing. Springer, London. https://doi.org/10.1007/978-1-84800-147-3_7
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DOI: https://doi.org/10.1007/978-1-84800-147-3_7
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