Compliance Analysis of Exechon Manipulators with An Offset Wrist

P.C. Lopez-Custodio, Rao Fu, Jian Dai, Yan Jin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The stiffness of the Exechon hybrid manipulator is a crucial performance indicator as it is used as a 5-axis machine tool for light machining. Normally, the serial module of the Exechon is not included in the kinematic and stiffness analysis. In terms of kinematics, the parallel and serial modules are said to be decoupled, as the parallel module can be solved for position and the serial module can be used to compensate the parasitic orientation of the parallel platform. This is only possible when the serial module is a perfect spherical wrist. However, several models of Exechon technology have an offset wrist rather than a spherical one mounted on the platform. Such an offsets makes impossible to obtain a kinematic decoupling.

In all publications available in the literature, the Exechon is considered to have a perfect spherical wrist. Therefore, this paper presents, for the first time, the inverse kinematics and a compliance model of Exechon manipulators with offset wrists. A semi-analytical model based on the overall Jacobian matrix is obtained for the compliance of the whole manipulator, while a 16-degree uni-variable polynomial is obtained for the solution of the inverse kinematics as a coupled problem.
Original languageEnglish
Title of host publicationParallel 2020: The 4th international conference on fundamental issues, applications and future research directions for parallel mechanisms/manipulators/machines: Proceedings
Number of pages11
Publication statusPublished - 09 Sep 2020
EventThe 4th International Conference on Fundamental Issues, Applications and Future Research Directions for Parallel Mechanisms / Manipulators / Machines - Queen's University Belfast, Belfast, United Kingdom
Duration: 09 Sep 202011 Sep 2020
https://www.qub.ac.uk/sites/Parallel2020/

Conference

ConferenceThe 4th International Conference on Fundamental Issues, Applications and Future Research Directions for Parallel Mechanisms / Manipulators / Machines
Abbreviated titleParallel 2020
CountryUnited Kingdom
CityBelfast
Period09/09/202011/09/2020
Internet address

Keywords

  • Exechon
  • Compliance
  • manipulator

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    Lopez-Custodio, P. C., Fu, R., Dai, J., & Jin, Y. (2020). Compliance Analysis of Exechon Manipulators with An Offset Wrist. In Parallel 2020: The 4th international conference on fundamental issues, applications and future research directions for parallel mechanisms/manipulators/machines: Proceedings