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Research Papers

Design of a Three-Axis Articulated Tool Head With Parallel Kinematics Achieving Desired Motion/Force Transmission Characteristics

[+] Author and Article Information
Xin-Jun Liu1

Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Tsinghua University, Beijing 100084, Chinaxinjunliu@mail.tsinghua.edu.cn

Li-Ping Wang, Fugui Xie

Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Tsinghua University, Beijing 100084, China

Ilian A. Bonev

Department of Automated Manufacturing Engineering, École de technologie supérieure, 1100 Notre-Dame Street West, Montreal, QC H3C 1K3, Canada

1

Corresponding author.

J. Manuf. Sci. Eng 132(2), 021009 (Mar 31, 2010) (8 pages) doi:10.1115/1.4001244 History: Received October 21, 2008; Revised January 29, 2010; Published March 31, 2010; Online March 31, 2010

This paper addresses the design issue of a three-axis tool head with three-PRS parallel kinematics (P, R, and S standing for prismatic, revolute, and spherical joint, respectively) by considering their orientation capability and motion/force transmission. The content presented here is actually an improvement on the dimensional optimization of articulated tool heads with parallel kinematics, with emphasis on the three-PRS design to solve the problem of orientational capability. An index that can evaluate the effectiveness of the motion/force transmission is introduced. The orientation capability with which the mechanism has high motion/force transmission capability is then defined. The procedure searching the link lengths with which the mechanism has a high orientation capability and good effectiveness of motion/force transmission is finally presented.

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Copyright © 2010 by American Society of Mechanical Engineers
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Figures

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Figure 1

A three-axis articulated tool head: (a) kinematic structure; (b) kinematic scheme

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Figure 2

Maximum orientation capability of a three-PRS type of tool head

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Figure 3

Transmission angles μ and γ

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Figure 4

Transmission angles of the three-PRS parallel mechanism

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Figure 5

GTOC of a three-PRS type of tool head

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Figure 6

Proposed parameter design space for the three-PRS mechanisms

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Figure 7

Performance atlases of the three-PRS type of tool head: (a) for GTOC and (b) for GTI

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Figure 8

An optimum region for the three-PRS parallel mechanism when GTOC≥40 deg and Γ≥0.95

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