Kinematics Analysis and Experimental Validation for a Hybrid Machining Unit with Redundantly Actuated Parallel Mechanism
A novel 5-DOF hybrid machining unit is designed and its kinematics is analyzed， in which a 2UPR&2RPS redundantly actuated parallel mechanism is acting as the spindle head. Firstly， the degree of freedom of proposed hybrid machining unit is analyzed based on the screw theory， it is proved tha...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-01-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.07.018 |
| _version_ | 1797819710054596608 |
|---|---|
| author | Jun Zhang Yufei Bao Hanliang Fang Jirui Diao |
| author_facet | Jun Zhang Yufei Bao Hanliang Fang Jirui Diao |
| author_sort | Jun Zhang |
| collection | DOAJ |
| description | A novel 5-DOF hybrid machining unit is designed and its kinematics is analyzed， in which a 2UPR&2RPS redundantly actuated parallel mechanism is acting as the spindle head. Firstly， the degree of freedom of proposed hybrid machining unit is analyzed based on the screw theory， it is proved that it has two rotational and three translational （2R3T） motion abilities. Secondly， a kinematics model of the hybrid machining unit is established by means of space vector， the analytical inverse and forward position formulations are derived. Thirdly， the workspace of the hybrid machining unit is predicted based on the hierarchical search idea， the distribution of the 5-axis reachable workspace is given. Finally， a set of machining tests are conducted on a laboratory prototype to experimentally validate the correctness of aforementioned kinematic analyses. |
| first_indexed | 2024-03-13T09:26:37Z |
| format | Article |
| id | doaj.art-d65a267dac414e1fb89b7669d2655fe0 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:26:37Z |
| publishDate | 2021-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-d65a267dac414e1fb89b7669d2655fe02023-05-26T09:34:05ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-01-014512212718848160Kinematics Analysis and Experimental Validation for a Hybrid Machining Unit with Redundantly Actuated Parallel MechanismJun ZhangYufei BaoHanliang FangJirui DiaoA novel 5-DOF hybrid machining unit is designed and its kinematics is analyzed， in which a 2UPR&2RPS redundantly actuated parallel mechanism is acting as the spindle head. Firstly， the degree of freedom of proposed hybrid machining unit is analyzed based on the screw theory， it is proved that it has two rotational and three translational （2R3T） motion abilities. Secondly， a kinematics model of the hybrid machining unit is established by means of space vector， the analytical inverse and forward position formulations are derived. Thirdly， the workspace of the hybrid machining unit is predicted based on the hierarchical search idea， the distribution of the 5-axis reachable workspace is given. Finally， a set of machining tests are conducted on a laboratory prototype to experimentally validate the correctness of aforementioned kinematic analyses.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.07.018Hybrid machining unit;Redundantly actuated parallel mechanism;Kinematics analysis;Free-form surface;S-shape test piece |
| spellingShingle | Jun Zhang Yufei Bao Hanliang Fang Jirui Diao Kinematics Analysis and Experimental Validation for a Hybrid Machining Unit with Redundantly Actuated Parallel Mechanism Jixie chuandong Hybrid machining unit;Redundantly actuated parallel mechanism;Kinematics analysis;Free-form surface;S-shape test piece |
| title | Kinematics Analysis and Experimental Validation for a Hybrid Machining Unit with Redundantly Actuated Parallel Mechanism |
| title_full | Kinematics Analysis and Experimental Validation for a Hybrid Machining Unit with Redundantly Actuated Parallel Mechanism |
| title_fullStr | Kinematics Analysis and Experimental Validation for a Hybrid Machining Unit with Redundantly Actuated Parallel Mechanism |
| title_full_unstemmed | Kinematics Analysis and Experimental Validation for a Hybrid Machining Unit with Redundantly Actuated Parallel Mechanism |
| title_short | Kinematics Analysis and Experimental Validation for a Hybrid Machining Unit with Redundantly Actuated Parallel Mechanism |
| title_sort | kinematics analysis and experimental validation for a hybrid machining unit with redundantly actuated parallel mechanism |
| topic | Hybrid machining unit;Redundantly actuated parallel mechanism;Kinematics analysis;Free-form surface;S-shape test piece |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.07.018 |
| work_keys_str_mv | AT junzhang kinematicsanalysisandexperimentalvalidationforahybridmachiningunitwithredundantlyactuatedparallelmechanism AT yufeibao kinematicsanalysisandexperimentalvalidationforahybridmachiningunitwithredundantlyactuatedparallelmechanism AT hanliangfang kinematicsanalysisandexperimentalvalidationforahybridmachiningunitwithredundantlyactuatedparallelmechanism AT jiruidiao kinematicsanalysisandexperimentalvalidationforahybridmachiningunitwithredundantlyactuatedparallelmechanism |