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research-article

Kinematic Optimization of the TriPecker: a Five-DoF Spatial Parallel Mechanism with Large Orientational Workspace

[+] Author and Article Information
Fugui Xie

The State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China; Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China; Fraunhofer-Institut fuer Werkzeugmachinen und Umformtechnik (IWU), Reichenhainer Str. 88, D-09126, Chemnitz, Germany
xiefg@mail.tsinghua.edu.cn

Xin-Jun Liu

The State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China; Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China
xinjunliu@mail.tsinghua.edu.cn

Jinsong Wang

The State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
xjl_pbm@aliyun.com

Markus Wabner

Fraunhofer-Institut fuer Werkzeugmachinen und Umformtechnik (IWU), Reichenhainer Str. 88, D-09126, Chemnitz, Germany
markus.wabner@iwu.fraunhofer.de

1Corresponding author.

ASME doi:10.1115/1.4037254 History: Received November 04, 2016; Revised June 15, 2017

Abstract

This paper deals with the kinematic optimization of a five degrees of freedom (DoFs) spatial parallel mechanism with three kinematic chains. Due to the potential advantages, this mechanism is used as a movable plug-in module in a multi-axis machine center to process large-scale parts with rotary contour surfaces. To derive its optimal parameters, kinematic optimization based on the motion/force transmissibility is carried out. The parameter design space (PDS) is generated first. Then the performance evaluation index (i.e., local transmission index, LTI) is derived sequentially. On this basis, the good transmission positioning workspace (GTPW) for a given orientaion is defined by constraining the value of LTI with a certain metric. Thereafter, the atlases of the GTPW and the optimal region satisfying the workspace constraint are derived in the PDS. Within this region, a set of optimal parameters without dimension are selected. Consequently, the cuboid workspaces within GTPWs are identified in detail. By using the ratio between required workspace in application and the derived cuboid workspaces, optimal geometric parameters with dimension are derived. Workspace analysis results show that, for an arbitrary orientation between the vertical and horizontal direction, there is always a cuboid workspace within GTPW larger than required workspace. In addition, the orientational capability of the mechanism can reach more than 90° and the flexible two DoFs rotations can also be realized. The work in this paper is very helpful to the development of a mobile machining module.

Copyright (c) 2017 by ASME
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