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Research Papers

Parameter Optimization for the Driving System of a 5 Degrees-of-Freedom Parallel Machining Robot With Planar Kinematic Chains

[+] Author and Article Information
Zenghui Xie

Department of Mechanical Engineering (DME),
Tsinghua University,
The State Key Laboratory of Tribology and Tsinghua University (DME)-Siemens Joint Research Center for Advanced Robotics,
Beijing 100084, China
e-mail: XieZH1993@163.com

Fugui Xie

Department of Mechanical Engineering (DME),
Tsinghua University,
The State Key Laboratory of Tribology and Tsinghua University (DME)-Siemens Joint Research Center for Advanced Robotics,
Beijing 100084, China;
Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipments and Control,
Tsinghua University,
Beijing 100084, China
e-mail: xiefg@mail.tsinghua.edu.cn

Xin-Jun Liu

Department of Mechanical Engineering (DME),
Tsinghua University,
The State Key Laboratory of Tribology and Tsinghua University (DME)-Siemens Joint Research Center for Advanced Robotics,
Beijing 100084, China;
Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control,
Tsinghua University,
Beijing 100084, China
e-mail: xinjunliu@tsinghua.edu.cn

Jinsong Wang

Department of Mechanical Engineering (DME),
Tsinghua University,
The State Key Laboratory of Tribology and Tsinghua University (DME)-Siemens Joint Research Center for Advanced Robotics,
Beijing 100084, China
e-mail: wangjs@mail.tsinghua.edu.cn

Xu Shen

Department of Mechanical Engineering,
University of California at Berkeley,
Berkeley CA 94701
e-mail: x-che14@tsinghua.org.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received November 19, 2018; final manuscript received March 8, 2019; published online May 17, 2019. Assoc. Editor: Raffaele Di Gregorio.

J. Mechanisms Robotics 11(4), 041003 (May 17, 2019) (12 pages) Paper No: JMR-18-1422; doi: 10.1115/1.4043291 History: Received November 19, 2018; Accepted March 15, 2019

Driving system parameter optimization (DSPO) is an important approach to improve robots' dynamic performances such as acceleration capacity, load carrying capacity, and operation stability. To achieve better dynamic performance, motors with high power and high cost are generally used. But this leads to a waste of resources. It is difficult to simultaneously make the robots satisfy the prescribed requirements and avoid over conservative design. This issue is much more challenging for parallel machining robots due to the coupling characteristics of the closed kinematic chains. In this paper, a 5 degrees-of-freedom (DoF) parallel machining robot with planar kinematic chains is presented, and its dynamic model is established based on the virtual work principle. Then, a DSPO method for 5-DoF machining robots is proposed by considering the classical machining trajectories that can reflect the robots' performance requirements. The motor output under these trajectories and candidate motor parameters are presented in a comprehensive graph. Combined with motor selection criteria, the feasible motors and usable reduction ratio range are derived. To optimize the reduction ratio, a dynamic index is proposed based on the variance degree of the motor output torque to evaluate driving system's operational stability. On this basis, the optimal reduction ratio is obtained by minimizing this index to improve the stability of machining robots. Based on the proposed method, the DSPO for the 5-DoF parallel machining robot is implemented, and the optimal driving units are generated. The proposed method can be used for the DSPO of other 5-DoF parallel machining robots.

Copyright © 2019 by ASME
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Figures

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Fig. 1

Model of the 5-DoF parallel machining robot: (a) kinematic scheme and (b) CAD model

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Fig. 2

Structure and local coordinate system of limb BiPi

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Fig. 3

Machining process of the S-shape part: (a) rough milling working condition and (b) finish milling working condition

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Fig. 4

Machining trajectories in the rough milling stage: (a) machining trajectories and (b) tool center point position-time curves

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Fig. 5

Machining trajectories in finish milling process: (a) machining trajectories, (b) tool position and orientation-time curves, and (c) orientation in the polar coordinate system

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Fig. 6

Machining trajectory in the rapid moving process: (a) machining trajectories and (b) tool center point position-time curves

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Fig. 7

Atlas of load curves and motor characteristic

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Fig. 8

Driving system parameter optimization procedure

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Fig. 9

Cutting force model of side milling

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Fig. 10

Output forces of limbs in the rough milling working condition

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Fig. 11

Output forces of limbs in the finish milling working condition

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Fig. 12

Output forces of limbs in the rapid moving working condition

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Fig. 13

Atlas of load curves and motor characteristic for limb 1: (a) TN∗(n∗)−ω∗(n∗) graph and (b) Tmax∗(n∗)−ω∗(n∗) graph

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Fig. 14

Changing curve of TVIfm with n∗

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Fig. 15

Output driving torque with different lead

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Fig. 16

Simulation results in ADAMS: (a) output torque in the rough milling working condition and (b) output velocity in a rapid mode

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