Kinematic Modelling and Workspace Prediction of a Hybrid Kinematic Machining Unit Integrating Redundantly Actuated Parallel Manipulator - Details

author：

Su, H. (Su, H..) ^[1] | Fang, H. (Fang, H..) ^[2] | Tang, T. (Tang, T..) ^[3] | Yang, F. (Yang, F..) ^[4] (Scholars：杨富富) | Zhang, J. (Zhang, J..) ^[5]

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Abstract：

To　meet　the　increasing　requirements　for　high-performance　machine　tools　in　manufacturing　industry,　a　5-axis　hybrid　kinematic　machining　unit　(HKMU)　is　proposed　with　a　topology　of　2UPR&1RPS&1RPU-XY.　Firstly,　the　inverse/forward　position　of　the　HKMU　is　analyzed　by　using　the　closed-loop　vector　method.　Secondly,　based　on　the　position　analysis,　a　3-axis　and　a　5-axis　reachable　workspace　are　defined　to　demonstrate　the　motion　capabilities　of　the　proposed　HKMU.　And　a　‘hierarchical’　searching　algorithm　is　proposed　to　calculate　the　above　two　types　of　reachable　workspace.　Finally,　the　relationship　between　dimensional　parameters　and　reachable　workspace　is　graphically　revealed　by　using　an　illustrative　example　of　the　proposed　HKMU.　©　2023,　The　Author(s),　under　exclusive　license　to　Springer　Nature　Singapore　Pte　Ltd.

Keyword：

5-axis reachable workspace ‘Hierarchical’ searching algorithm Hybrid kinematic machining unit Position analysis

Community：

[ 1 ] [Su H.]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350116, China
[ 2 ] [Fang H.]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350116, China
[ 3 ] [Tang T.]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350116, China
[ 4 ] [Yang F.]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350116, China
[ 5 ] [Zhang J.]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350116, China
[ 6 ] [Zhang J.]The State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, 400044, China

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Kinematic Modelling and Workspace Prediction of a Hybrid Kinematic Machining Unit Integrating Redundantly Actuated Parallel Manipulator
2023，

Related Keywords：

Post-processing Algorithm of a Novel Five-axis Hybrid Kinematic Machining Unit; [新型 5 轴混联加工单元的后置处理算法]
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Kinematic analysis and comparison of a 2R1T redundantly actuated parallel manipulator and its non-redundantly actuated forms
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Source ：

ISSN： 2195-4356

Year： 2023

Page： 855-867

Language： English

Cited Count：

WoS CC Cited Count： 0

SCOPUS Cited Count：

ESI Highly Cited Papers on the List： 0 Unfold All

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Chinese Cited Count：

30 Days PV： 1

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机械工程及自动化学院本学院/部未明确归属的数据

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