Chinese Journal of Mechanical Engineering >

2018 , Vol. 31 >Issue 2: 44 - 44

DOI: https://doi.org/10.1186/s10033-018-0241-6

Innovative Design of Complex Products

A Finite and Instantaneous Screw Based Approach for Topology Design and Kinematic Analysis of 5-Axis Parallel Kinematic Machines

  • Tao Sun ,
  • Shuo-Fei Yang ,
  • Tian Huang ,
  • Jian S. Dai
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  • 1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300350, China;
    2. School of Engineering, The University of Warwick, Coventry CV4 7AL, UK;
    3. Centre for Robotics Research, School of Natural Sciences and Mathematics, King's College London, University of London, London WC2R 2LS, UK

收稿日期: 2017-06-22

  网络出版日期: 2019-07-23

基金资助

Supported by National Natural Science Foundation of China (Grant No. 51675366), and Tianjin Research Program of Application Foundation and Advanced Technology (Grant Nos. 16JCYBJC19300, 15JCZDJC38900)

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A Finite and Instantaneous Screw Based Approach for Topology Design and Kinematic Analysis of 5-Axis Parallel Kinematic Machines

  • Tao Sun ,
  • Shuo-Fei Yang ,
  • Tian Huang ,
  • Jian S. Dai
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  • 1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300350, China;
    2. School of Engineering, The University of Warwick, Coventry CV4 7AL, UK;
    3. Centre for Robotics Research, School of Natural Sciences and Mathematics, King's College London, University of London, London WC2R 2LS, UK

Received date: 2017-06-22

  Online published: 2019-07-23

Supported by

Supported by National Natural Science Foundation of China (Grant No. 51675366), and Tianjin Research Program of Application Foundation and Advanced Technology (Grant Nos. 16JCYBJC19300, 15JCZDJC38900)

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摘要

Unifying the models for topology design and kinematic analysis has long been a desire for the research of parallel kinematic machines (PKMs). This requires that analytical description, formulation and operation for both finite and instantaneous motions are performed by the same mathematical tool. Based upon finite and instantaneous screw theory, a unified and systematic approach for topology design and kinematic analysis of PKMs is proposed in this paper. Using the derivative mapping between finite and instantaneous screws built in the authors' previous work, the finite and instantaneous motions of PKMs are analytically described by the simple and non-redundant screws in quasi-vector and vector forms. And topological and parametric models of PKMs are algebraically formulated and related. These related topological and parametric models are ready to do type synthesis and kinematic analysis of PKMs under the unified framework of screw theory. In order to show the validity of the proposed approach, a kind of two-translational and three-rotational (2T3R) 5-axis PKMs is taken as example. Numerous new structures of the 2T3R PKMs are synthesized as the results of topology design, and their Jacobian matrix is obtained easily for parameter optimization and performance evaluation. Some of the synthesized PKMs have outstanding capabilities in terms of large workspaces and flexible orientations, and have great potential for industrial applications of machining and manufacture. Among them, METROM PKM is a typical example which has attracted a lot of attention from global companies and already been developed as commercial products. The approach is a general and unified approach that can be used in the innovative design of different kinds of PKMs.

关键词： Innovative design; Parallel kinematic machines; Screw theory; Finite screw; Instantaneous screw

本文引用格式

Tao Sun , Shuo-Fei Yang , Tian Huang , Jian S. Dai . A Finite and Instantaneous Screw Based Approach for Topology Design and Kinematic Analysis of 5-Axis Parallel Kinematic Machines[J]. Chinese Journal of Mechanical Engineering, 2018 , 31(2) : 44 -44 . DOI: 10.1186/s10033-018-0241-6

Abstract

Unifying the models for topology design and kinematic analysis has long been a desire for the research of parallel kinematic machines (PKMs). This requires that analytical description, formulation and operation for both finite and instantaneous motions are performed by the same mathematical tool. Based upon finite and instantaneous screw theory, a unified and systematic approach for topology design and kinematic analysis of PKMs is proposed in this paper. Using the derivative mapping between finite and instantaneous screws built in the authors' previous work, the finite and instantaneous motions of PKMs are analytically described by the simple and non-redundant screws in quasi-vector and vector forms. And topological and parametric models of PKMs are algebraically formulated and related. These related topological and parametric models are ready to do type synthesis and kinematic analysis of PKMs under the unified framework of screw theory. In order to show the validity of the proposed approach, a kind of two-translational and three-rotational (2T3R) 5-axis PKMs is taken as example. Numerous new structures of the 2T3R PKMs are synthesized as the results of topology design, and their Jacobian matrix is obtained easily for parameter optimization and performance evaluation. Some of the synthesized PKMs have outstanding capabilities in terms of large workspaces and flexible orientations, and have great potential for industrial applications of machining and manufacture. Among them, METROM PKM is a typical example which has attracted a lot of attention from global companies and already been developed as commercial products. The approach is a general and unified approach that can be used in the innovative design of different kinds of PKMs.

Key words： Innovative design; Parallel kinematic machines; Screw theory; Finite screw; Instantaneous screw

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