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 languageEnglish
Number of pages11
Publication statusPublished - 20 Jul 2015
Event3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots - Beihang University, Beijing, China
Duration: 20 Jul 201522 Jul 2015

Conference

Conference3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots
CountryChina
CityBeijing
Period20/07/201522/07/2015

Bibliographical note

Accepted

Keywords

  • Design
  • Workspace
  • parallel kinematic machine

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