|
Abstract A high stiffness, high load loading mechanism was developed for machine tool reliability tests. A kinematics model was used to analyze a singularity in the motion and develop a dynamic model with the Jacobian matrix used to evaluate the speed transfer efficiency of the loading mechanism. The kinetic energy was modeled to define the inertia matrix and evaluate the acceleration. The results show that the three-axis loading mechanism has good acceleration in the Z direction and good isotropy in the XY plane. The acceleration provides sufficiently fast motion in the Z direction.
|
Keywords
parallel mechanism
loading mechanism
dynamic model
dynamic evaluation
|
Corresponding Authors:
Jun WU
E-mail: jhwu@mail.tsinghua.edu.cn
|
Issue Date: 14 October 2020
|
|
|
2 |
WU J , WANG L P , YOU Z . A new method for optimum design of parallel manipulator based on kinematics and dynamics[J]. Nonlinear Dynamics, 2010. 61 (4): 717- 727.
doi: 10.1007/s11071-010-9682-x
|
3 |
WU J , LI T M , WANG J S , et al. Stiffness and natural frequency of a 3-DOF parallel manipulator with consideration of additional leg candidates[J]. Robotics and Autonomous Systems, 2013. 61 (8): 868- 875.
doi: 10.1016/j.robot.2013.03.001
|
4 |
徐彬.基于并联机构的多维力加载试验系统研究[D].哈尔滨:哈尔滨工业大学, 2013.
url: http://cdmd.cnki.com.cn/Article/CDMD-10213-1014003564.htm
|
4 |
XU B. Research on the multi-DOF loading system based on parallel mechanism[D]. Harbin: Harbin Institute of Technology, 2013. (in Chinese)
|
5 |
WU J , CHEN X L , WANG L P , et al. Dynamic load-carrying capacity of a novel redundantly actuated parallel conveyor[J]. Nonlinear Dynamics, 2014. 78 (1): 241- 250.
doi: 10.1007/s11071-014-1436-8
|
6 |
BI Z M . Kinetostatic modeling of Exechon parallel kinematic machine for stiffness analysis[J]. The International Journal of Advanced Manufacturing Technology, 2014. 71 (1-4): 325- 335.
doi: 10.1007/s00170-013-5482-z
|
8 |
WANG D , FAN R , CHEN W Y . Stiffness analysis of a hexaglide parallel loading mechanism[J]. Mechanism and Machine Theory, 2013. 70, 454- 473.
doi: 10.1016/j.mechmachtheory.2013.08.015
|
9 |
WU J , WANG J S , LI T M , et al. Dynamic dexterity of a planar 2-DOF parallel manipulator in a hybrid machine tool[J]. Robotica, 2008. 26 (1): 93- 98.
url: http://dl.acm.org/citation.cfm?id=1348884
|
10 |
YOSHIKAWA T . Dynamic manipulability of robot manipulators[J]. Journal of Robotic Systems, 1985. 2 (1): 113- 124.
url: https://www.jstage.jst.go.jp/article/sicetr1965/21/9/21_9_970/_article
|
11 |
YOSHIKAWA T . Manipulability of robotic mechanisms[J]. The International Journal of Robotics Research, 1985. 4 (2): 3- 9.
url: http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=10.1177/027836498500400201
|
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
|
Shared |
|
|
|
|
|
Discussed |
|
|
|
|