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Motion-force Transmissibility Characteristic Analysis of a Redundantly Actuated and Overconstrained Parallel Machine

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Abstract

This paper presents a novel 1T2R three degrees of freedom redundantly actuated and overconstrained 2\(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{\rm{P}}\rm{RU}-\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{\rm{P}}R\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{\rm{P}}S\)S parallel machining head (\(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{\rm{P}}\) denotes the active prismatic joint), which can construct 5-axis hybrid machine to complete high speed freedom surface milling for large complex structural components in aerospace. Firstly, based on the screw theory, the mobility of the proposed parallel manipulator is briefly analysed. Secondly, the kinematic inverse position and the parasitic motion of the parallel manipulator are explicitly expressed. Furthermore, motion-force transmission performance evaluation indices are derived in detail via an alternative approach based on the screw theory. More importantly, a simple method for quickly solving the maximum virtual power coefficient is proposed, and the motion-force transmission performance evaluation index is greatly improved. To evaluate the kinematic performance, its workspace is calculated. With numerical examples, performance distribution atlases of the manipulator are depicted visually. The corresponding results illustrate that the proposed parallel manipulator has better orientation workspace and superior motion-force transmission performance than the 2PRU-PRS parallel manipulator, which proves the validity and applicability of applying this manipulator as a machining head.

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Acknowledgements

This work was supported by the Fundamental Research Funds for the Central Universities (Nos. 2018JBZ007, 2018YJS136 and 2017YJS158), China Scholarship Council (CSC) (No. 201807090079), and National Natural Science Foundation of China (NSFC) (No. 51675037).

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Authors and Affiliations

  1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, 100044, China

    Hai-Qiang Zhang, Hai-Rong Fang & Bing-Shan Jiang

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  1. Hai-Qiang Zhang
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Correspondence to Hai-Rong Fang.

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Hai-Qiang Zhang received the B. Sc. degree in mechanical design and theories from Yantai University, China in 2012, and the M. Sc. degree in mechanical engineering from Hebei University of Engineering, China in 2015. He is a Ph. D. degree candidate in mechanical, electronic and control engineering at Beijing Jiaotong University, China. In 2018, he receive the China Scholarship Council (CSC) Founding to York University, USA as a joint Ph. D. student.

His research interests include robotics in computer integrated manufacturing, parallel kinematics machine tool, redundancy actuation robots, over-constrained parallel manipulators, and multi-objective optimization design.

Hai-Rong Fang received the B. Sc. degree in mechanical engineering from Nanjing University of Science and Technology, China in 1990, the M. Sc. 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 at School of Mechanical Engineering from 2011 and director of Robotics Research Center.

Her research interests include the parallel mechanisms, digital control, robotics and automation, machine tool equipment.

Bing-Shan Jiang received the B. Sc. degree in mechanical electronic engineering from Liaoning Technical University, China in 2015, and the M. Sc. degree in mechanical engineering from Liaoning Technical University, China in 2017. He is currently a Ph. D. degree candidate in mechanical, electronic and control engineering, Beijing Jiaotong University, China.

His research interests include synthesis, kinematics, dynamics and control of parallel robots.

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Zhang, HQ., Fang, HR. & Jiang, BS. Motion-force Transmissibility Characteristic Analysis of a Redundantly Actuated and Overconstrained Parallel Machine. Int. J. Autom. Comput. 16, 150–162 (2019). https://doi.org/10.1007/s11633-018-1156-5

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