Conceptual Design and Workspace Analysis of an Exechon-inspired Parallel Kinematic Machine

Tengfei Tang; Yanqin Zhao; Zhang Jun; Yan Jin

Conceptual Design and Workspace Analysis of an Exechon-inspired Parallel Kinematic Machine

Tengfei Tang, Yanqin Zhao, Zhang Jun, Yan Jin

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Abstract

Inspired by the commercial application of the Exechon machine, this paper proposed a novel parallel kinematic machine (PKM) named Exe-Variant. By exchanging the sequence of kinematic pairs in each limb of the Exechon machine, the Exe-Variant PKM claims an arrangement of 2UPR/1SPR topology and consists of two identical UPR limbs and one SPR limb. The inverse kinematics of the 2UPR/1SPR parallel mechanism was firstly analyzed based on which a conceptual design of the Exe-Variant was carried out. Then an algorithm of reachable workspace searching for the Exe-Variant and the Exchon was proposed. Finally, the workspaces of two example systems of the Exechon and the Exe-Variant with approximate dimensions were numerically simulated and compared. The comparison shows that the Exe-Variant possesses a competitive workspace with the Exechon machine, indicating it can be used as a promising reconfigurable module in a hybrid 5-DOF machine tool system.

Original language	English
Number of pages	11
Publication status	Published - 20 Jul 2015
Event	3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots - Beihang University, Beijing, China Duration: 20 Jul 2015 → 22 Jul 2015

Conference

Conference	3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots
Country/Territory	China
City	Beijing
Period	20/07/2015 → 22/07/2015

Bibliographical note

Accepted

Keywords

Design
Workspace
parallel kinematic machine

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Conceptual Design and Workspace Analysis of an Exechon-inspired Parallel Kinematic Machine
© 2015 The Authors
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title = "Conceptual Design and Workspace Analysis of an Exechon-inspired Parallel Kinematic Machine",

abstract = "Inspired by the commercial application of the Exechon machine, this paper proposed a novel parallel kinematic machine (PKM) named Exe-Variant. By exchanging the sequence of kinematic pairs in each limb of the Exechon machine, the Exe-Variant PKM claims an arrangement of 2UPR/1SPR topology and consists of two identical UPR limbs and one SPR limb. The inverse kinematics of the 2UPR/1SPR parallel mechanism was firstly analyzed based on which a conceptual design of the Exe-Variant was carried out. Then an algorithm of reachable workspace searching for the Exe-Variant and the Exchon was proposed. Finally, the workspaces of two example systems of the Exechon and the Exe-Variant with approximate dimensions were numerically simulated and compared. The comparison shows that the Exe-Variant possesses a competitive workspace with the Exechon machine, indicating it can be used as a promising reconfigurable module in a hybrid 5-DOF machine tool system.",

keywords = "Design, Workspace, parallel kinematic machine",

author = "Tengfei Tang and Yanqin Zhao and Zhang Jun and Yan Jin",

note = "Accepted; 3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots ; Conference date: 20-07-2015 Through 22-07-2015",

year = "2015",

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day = "20",

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TY - CONF

T1 - Conceptual Design and Workspace Analysis of an Exechon-inspired Parallel Kinematic Machine

AU - Tang, Tengfei

AU - Zhao, Yanqin

AU - Jun, Zhang

AU - Jin, Yan

N1 - Accepted

PY - 2015/7/20

Y1 - 2015/7/20

N2 - Inspired by the commercial application of the Exechon machine, this paper proposed a novel parallel kinematic machine (PKM) named Exe-Variant. By exchanging the sequence of kinematic pairs in each limb of the Exechon machine, the Exe-Variant PKM claims an arrangement of 2UPR/1SPR topology and consists of two identical UPR limbs and one SPR limb. The inverse kinematics of the 2UPR/1SPR parallel mechanism was firstly analyzed based on which a conceptual design of the Exe-Variant was carried out. Then an algorithm of reachable workspace searching for the Exe-Variant and the Exchon was proposed. Finally, the workspaces of two example systems of the Exechon and the Exe-Variant with approximate dimensions were numerically simulated and compared. The comparison shows that the Exe-Variant possesses a competitive workspace with the Exechon machine, indicating it can be used as a promising reconfigurable module in a hybrid 5-DOF machine tool system.

AB - Inspired by the commercial application of the Exechon machine, this paper proposed a novel parallel kinematic machine (PKM) named Exe-Variant. By exchanging the sequence of kinematic pairs in each limb of the Exechon machine, the Exe-Variant PKM claims an arrangement of 2UPR/1SPR topology and consists of two identical UPR limbs and one SPR limb. The inverse kinematics of the 2UPR/1SPR parallel mechanism was firstly analyzed based on which a conceptual design of the Exe-Variant was carried out. Then an algorithm of reachable workspace searching for the Exe-Variant and the Exchon was proposed. Finally, the workspaces of two example systems of the Exechon and the Exe-Variant with approximate dimensions were numerically simulated and compared. The comparison shows that the Exe-Variant possesses a competitive workspace with the Exechon machine, indicating it can be used as a promising reconfigurable module in a hybrid 5-DOF machine tool system.

KW - Design

KW - Workspace

KW - parallel kinematic machine

M3 - Paper

T2 - 3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots

Y2 - 20 July 2015 through 22 July 2015

ER -

Conceptual Design and Workspace Analysis of an Exechon-inspired Parallel Kinematic Machine

Abstract

Conference

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Keywords

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