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.
|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||3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots|
|Period||20/07/2015 → 22/07/2015|
- parallel kinematic machine