Kinematics Analysis of the Exechon Tripod

Abstract

The Exechon 5-Axis Parallel Kinematic Machine (PKM) is a successful design created in Sweden and adopted by many producers of machine tools around the world. A new version of the manipulator is being developed as a component of a mobile self-reconfigurable fixture system within an inter-European project. The basic Exechon architecture consists of a 3-degree-of-freedom (dof) parallel mechanism (PM) connected in series with a two- or three-dof spherical wrist. The PM has two UPR (4-dof) legs, constrained to move in a common rotating plane, and an SPR (5-dof) leg. The paper presents the kinematic analysis of both the PM and the hybrid parallel-serial architecture. We describe the complex three-dimensional motion pattern of the PM platform, derive the kinematic equations and provide explicit solutions for the inverse kinematics.

Optimal Design of a New Parallel Kinematic Machine for Large Volume Machining

“…The inverse kinematics of the Exechon hybrid parallel-serial architecture was also recently studied by Zoppi et al [27]. It is found that only one unique solution exists for the inverse kinematics of the Exechon PKM.…”

Parallel, Serial and Hybrid Machine Tools and Robotics Structures: Comparative Study on Optimum Kinematic Designs

“…The Exechon machining center is based on a hybrid five degrees-of-freedom mechanism that consists of parallel and serial kinematic linkages (Zoppi et al, 2010). The parallel kinematic structure of the Exechon is an overconstrained mechanism with eight links and a total of nine joints; three prismatic joints with connectivity one, three revolute joints with connectivity one, and three universal joints with connectivity two.…”

Kinematics Performance Evaluation of a 3-SPR Parallel Manipulator

“…众所周知，由 1T2R 3 自由度并联机构和 2 自 由度转头串接组成的 5 自由度混联机器人具有工作 空间/装备占地比大、精度和刚度高等优点，特别适 合制成一种即插即用的模块，并根据用户需要搭建 出形式多样的制造单元和系统。近年来，这类机器 人已在航空、汽车和建筑等领域大型构件加工、焊 接、装配等作业中得到应用，典型代表有 Tricept 机器人 [1] ，Exechon 机器人 [2] ，及 TriVariant 机器人 ，并据 此构造了多种量纲一且与坐标系无关的运动学性能 评价指标 [12][13][14] 。 如 CHEN 等 [14] 据此提出了广义传递 指标。近年来，一些学者将这一概念引入到并联机 构中 [15][16][17][18] 并用于并联机构的运动学优化设计。如汪 劲松等 [15][16] 提出输入、输出及约束传递率指标用于 评价机构的力和运动的传递特性，黄田等 [17][18] 借助 ( 1 ) …”