Optimal structural design of a Biglide parallel drill grinder

Wu, Guanglei

doi:10.1007/s00170-016-9625-x

Cited by 15 publications

(7 citation statements)

References 32 publications

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“…In this section, the stiffness modeling method for the Biglide parallel robot that considers both the compliance of all components and the gravity of moveable components is presented 16 – 19 , 26 , 27 . Each component is either a link/slidable platform or a 1-degree-of-freedom (dof) revolute joint/prismatic joint.…”

Section: Stiffness Modeling Procedures Of the Biglide Parallel Robotmentioning

confidence: 99%

Stiffness characteristics analysis of a Biglide industrial parallel robot considering the gravity of mobile platform and links

Guan

Zou

et al. 2023

Sci Rep

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For the machining process of industrial parallel robots, the gravity generated by the weight of mobile platform and links will lead to the deviation of the expected machining trajectory of the tool head. In order to evaluate this deviation and then circumvent it, it is necessary to perform the robotic stiffness model. However, the influence of gravity is seldom considered in the previous stiffness analysis. This paper presents an effective stiffness modeling method for industrial parallel robots considering the link/joint compliance, the mobile platform/link gravity, and the mass center position of each link. First, the external gravity corresponding to each component is determined by the static model under the influence of gravity and mass center position. Then, the corresponding Jacobian matrix of each component is obtained by the kinematic model. Subsequently, the compliance of each component is obtained by cantilever beam theory and FEA-based virtual experiments. In turn, the stiffness model of the whole parallel robot is determined and the Cartesian stiffness matrix of the parallel robot is calculated at several positions. Moreover, the principal stiffness distribution of the tool head in each direction over the main workspace is predicted. Finally, the validity of the stiffness model with gravity is experimentally proved by the comparison of the calculated stiffness and measured stiffness in identical conditions.

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Section: Stiffness Modeling Procedures Of the Biglide Parallel Robotmentioning

confidence: 99%

Stiffness characteristics analysis of a Biglide industrial parallel robot considering the gravity of mobile platform and links

Guan

Zou

et al. 2023

Sci Rep

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“…The four universal joints connected with the fixed platform are distributed at the four corners of the fixed platform. The coordinates of each universal joint Ui on the fixed platform in the fixed coordinate system can be described by Equation (5).…”

Section: Inverse Solution Analysis Of the Driving Branch (Ups)mentioning

confidence: 99%

“…Zhao Yongsheng [4] designed a 5-UPS (Universal joint + Prismatic pair + Spherical pair)/1-PRPS (Prismatic pair + Revolute pair + Prismatic pair + Spherical pair) 5-degrees-of-freedom parallel machine tool, the constraining branch of which is in the form of PRPS (Prismatic pair + Revolute pair + Prismatic pair + Spherical pair). The structure is relatively simple and can realize the corresponding constraint functions [5]. The driving branch is in the form of the commonly used UPS (Universal joint +Prismatic pair + Spherical pair).…”

Section: Introductionmentioning

confidence: 99%

Analysis of Position, Pose and Force Decoupling Characteristics of a 4-UPS/1-RPS Parallel Grinding Robot

et al. 2022

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For the application of parallel robots in the grinding industry, a parallel robot equipped with a constant force actuator that produces a constant force for grinding is designed. To study the characteristics of the parallel robot’s spatial positions and poses, the inverse solutions of the moving platform’s spatial positions and poses as well as the workspace where objects were ground were established by using DH parameters and geometric methods. The experimental results showed that the workspace where objects were ground was a cylinder with a cross section similar to a symmetric circular sector. To analyze the characteristics of the forces produced by the parallel robotic system, the dynamics equation was established via the Newton–Euler method to verify the rationality of the force decoupling design. Theoretical calculation combined with simulation and experimental analyses confirmed the viability of the theoretical analyses which lay a theoretical foundation for the design, manufacture and control of the parallel robotic system proposed in this paper.

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“…The most commonly used intelligent optimization algorithms in engineering mainly include the genetic algorithm and particle swarm optimization. Wu et al [15,16] used a genetic algorithm to optimize the stiffness and dynamic performance of a space mechanism. Sun et al [17] used particle swarm optimization to optimize the stiffness performance of a spatial structure.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Performance Analysis and Optimization Design of the Pulp-Molding Machine Frame

Lou¹,

Gong

2022

Preprint

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The pulp-molding product is a new degradable and pollution-free packaging material replacing traditional packaging materials. Countries are strongly recommending that pulp molding machines are mainly used to produce pulp-molding products. The stability, efficiency, and rapidity of its products’ molding and processing quality are largely controlled by the structural dynamic mechanics of the molding-machine frame. The first-order natural frequency, the fundamental frequency, is an important index to measure the dynamic performance of its equipment. The Pulp-Molding Machine Frame molding machine was taken as an example to analyze the dynamic performance and optimize the design in the work. Based on finite elements, the beam structure was divided into finite elements, and the global independent generalized displacement coordinates of the equipment were extracted using multi-point constraint elements. The elastic dynamic model of the device was established by combining the Lagrange equation and the global independent generalized displacement coordinates, and the correctness of the theoretical model was verified by the finite element method. Finally, taking the first natural frequency as the optimization-design goal, the section size of the beam in the equipment was optimized by the particle-swarm optimization algorithm. The results can be used to analyze the dynamic performance and optimize the design of the molding machine at the pre-design stage.

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Optimal structural design of a Biglide parallel drill grinder

Cited by 15 publications

References 32 publications

Stiffness characteristics analysis of a Biglide industrial parallel robot considering the gravity of mobile platform and links

Stiffness characteristics analysis of a Biglide industrial parallel robot considering the gravity of mobile platform and links

Analysis of Position, Pose and Force Decoupling Characteristics of a 4-UPS/1-RPS Parallel Grinding Robot

Dynamic Performance Analysis and Optimization Design of the Pulp-Molding Machine Frame

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