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

Chen, Shang-Liang; Kang, Chan-Jung; Inasaki, Ichiro

doi:10.1243/14644190260070385

Cited by 7 publications

(10 citation statements)

References 6 publications

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“…equation (3) should equal equation (4). Therefore, the rotation angle and feedrate of each axis are given by 3 ¼ tan À1 ði=kÞ ð 7Þ 6B ¼ sin À1 ð jÞ ð 8Þ d 1 ¼ ÀðÀa 10 sin 10 cos 6B þ a 10 sin 10 þ ðA þ tÞ cos 6B Þ · cos 3 À ðÀa 10 cos 10 cos 9B À d 11 sin 9B þ a 10 cos 10 þ C cos 9B À Bsin 9B Þ · sin 3 À a 2 À z þ F ð9Þ d 2 ¼ ðÀa 10 sin 10 cos 6B þ a 10 sin 10 þ ðA þ tÞcos 6B Þ ·sin 3 þ ða 10 cos 10 cos 9B þ d 11 sin 9B À a 10 cos 10 À C cos 9B þ Bsin 9B Þ· cos 3 þ x À D ð10Þ d 4B ¼ a 10 cos 10 sin 9B À a 10 sin 10 sin 6B À d 11 cos 9B À d 5…”

Section: D-h Notation Methods For Inverse Kinematic Analysismentioning

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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Section: D-h Notation Methods For Inverse Kinematic Analysismentioning

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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“…al. (79) propose a principle for the optimization of the dimensional design parameters of a parallel kinematic machine tool. A five-degree-of freedom parallel kinematic machine tool with TRR-XY hybrid mechanism is investigated.…”

Section: (J) Seismic Analysesmentioning

confidence: 99%

Recent Research on MBD in JAPAN

Sato

Takahashi

Takehara

2010

JSDD

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Research on multibody dynamics in engineering and science is developing at a high pace in Japan and in the world. These activities provide efficient and powerful solution tools for solving complicated dynamic problems with control via theoretical or high performance in-house and/or general purpose computer programs in academic and industrial fields. Thus, advancement of research is an important index for measuring competitiveness in education and industry in terms of "dynamics and control". The aim of this paper is to present an overview of the various research activities of multibody dynamics in Japan.

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“…Chang et al [2] proposed a principle for the optimization of the dimensional design parameter of a parallel kinematic machine tool. Wang and Masory [3] analysed the accuracy of the Stewart platform by treating the individual limbs as serial chains.…”

Section: Introductionmentioning

confidence: 99%

Geometric error measurement and compensation of a six-degree-of-freedom hybrid positioning stage

Wang

Chen²

2008

Proceedings of the Institution of Mechanical Engineers, Part B:

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This paper presents the geometric error measurement and compensation of a sixdegree-of-freedom (6-DOF) hybrid positioning stage consisting of a 3-DOF parallel kinematic mechanism and a 3-DOF serial mechanism. The parallel kinematic mechanism uses ball joints and wedge-shaped mechanisms to provide the required rotational and sliding movement. The advantages of this mechanism include a simple structure, easy assembly, and zero accumulated linkage errors. The study commences by describing the kinematic mechanisms of the positioning stage, and then evaluates the degrees of freedom of the parallel kinematic mechanism. Subsequently, a homogeneous transformation matrix approach is employed to perform an inverse analysis of the kinematics of the entire positioning stage. The study then discusses the effects of geometric errors caused by imprecision in the manufacturing and assembly processes on the positional accuracy of the stage. Finally, a coordinate measuring machine is used to measure the translation and orientation errors of the positioning stage. By comparing the measured data with the values derived from the inverse kinematics analysis, an error compensation model is constructed.

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

Cited by 7 publications

References 6 publications

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

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

Recent Research on MBD in JAPAN

Geometric error measurement and compensation of a six-degree-of-freedom hybrid positioning stage

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