Design and Kinematics of a Parallel Manipulator for Manufacturing

Wang, Q.Y.; Zou, Hong-Liu; Zhao, Mingyang; Li, Q.M.; Zheng, Haodong

doi:10.1016/s0007-8506(07)60829-4

Cited by 19 publications

(3 citation statements)

References 10 publications

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“…During the progress of self-loading and self-dumping, loading and unloading when the cargo is lifted, the forces of the cylinders are complex [1,2]. So, basing on static analysis method [3,4], the mathematical model of the forces of the cylinders is established to analyze mechanical characteristics of the hydraulic cylinders, to reduce the working pressure, to increase stability and improve the design quality.…”

Section: Prefacementioning

confidence: 99%

Force Analysis for Working Unit of Mini Tracked Truck

Wang

Bian

et al. 2014

AMM

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Mini tracked truck’s working unit is a device constrained by the dual parallelogram. This unit can make the goods remain translational during the process of loading and unloading so as to ensure the work process safe and reliable. Because the device is consisting of two parallelograms in series and using the rail to constrain its trajectory, the institutional force is very complicated. Therefore, this article uses statics method to analyze the force that acts on the working unit, establish the mechanical equations of the main arm cylinder and the lifting arm cylinder. The article respectively gives the simulation of the mechanical properties of the main arm cylinder during the loading process and the lifting arm cylinder during the lifting process basing on MATLAB. Research result provides a theoretical basis for the design of this type of working unit.

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Section: Prefacementioning

confidence: 99%

Force Analysis for Working Unit of Mini Tracked Truck

Wang

Bian

et al. 2014

AMM

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“…Lee [8] used geometric vector definition and Euler angle transformation to solve the relationship between the kinematics and the geometry for parallel mechanisms. Wang [9] obtained the solid workspace of a parallel kinematic mechanism by evaluating discrete points on the plain to determine whether or not they satisfied the constraints of the mechanism. Chang [10] proposed a principle for optimizing the dimensional design parameters of a parallel kinematic machine tool.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and Workspace Analysis of a Six-Degree-of-Freedom Optic Fibre Positioning Stage Using the Denavit-Hartenberg Notation Method

Wang

Chen

2006

Proceedings of the Institution of Mechanical Engineers, Part B:

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This paper analyses a hybrid optic fibre alignment positioning stage with six degrees of freedom (6-DOF) based on a 3-DOF parallel kinematic mechanism and a 3-DOF serial mechanism. The parallel kinematic mechanism uses three different types of ball joint to provide rotation and sliding movement. The advantages of the parallel kinematic mechanism include a simple structure, simplified kinematic analysis, zero accumulation of link errors, and high positioning accuracy. This study commences by introducing the parallel kinematic mechanism of the positioning stage and then proceeds to discuss its degrees of freedom. The Denavit-Hartenberg notation method is employed to analyse the kinematics of the positioning stage. Some simulation results are given to verify the correctness of this study and to show some potential for the optical fibre alignment applications. In the sequel, the effects of the dimensions of the mechanical components of the positioning stage on the workspace are also investigated and discussed.

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“…Using the same method as described in reference [4], Wang further considered the machine element constraints and interference in the workspace analysis [5]. A method separating the workspace into discrete points is also proposed by Wang et al [6]. A three-dimensional workspace is then de ned by a collection of all points that satisfy the machine constraints.…”

mentioning

confidence: 99%

Design optimization of the linkage dimension for a hybrid-type parallel kinematic machine tool

Chen

Kang

Inasaki

2002

Proceedings of the Institution of Mechanical Engineers, Part K:

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The parallel kinematic machine tool has many advantages including excellent loading capacity, high structural stiffness and small accumulated error of linkage. It has become one of the most important research fields for machine tools. In the present research, a principle for the optimization of the dimensional design parameters of a parallel kinematic machine tool is proposed. A five-degree-of-freedom (5DOF) parallel kinematic machine tool with a TRR-XY hybrid mechanism is chosen for investigating the design procedures and the optimization results. The inverse kinematics of the hybrid mechanism is first investigated. Then, the inverse solution is used to analyse and create the workspaces of the machine tool. The design parameters of the mechanical components are further optimized for constructing the maximum workspace.

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Design and Kinematics of a Parallel Manipulator for Manufacturing

Cited by 19 publications

References 10 publications

Force Analysis for Working Unit of Mini Tracked Truck

Force Analysis for Working Unit of Mini Tracked Truck

Kinematics and Workspace Analysis of a Six-Degree-of-Freedom Optic Fibre Positioning Stage Using the Denavit-Hartenberg Notation Method

Design optimization of the linkage dimension for a hybrid-type parallel kinematic machine tool

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