Comparative Analysis of a Redundant Pentapod Parallel Kinematic Machine

2015 ◽  
Vol 7 (3) ◽  
Author(s):  
Arta Alagheband ◽  
Masih Mahmoodi ◽  
James K. Mills ◽  
Beno Benhabib
Keyword(s):  
Comparative Analysis ◽  
Dynamic Stiffness ◽  
Degree Of Freedom ◽  
Parallel Kinematic Machine ◽  
High Stiffness ◽  
Parallel Kinematic ◽  
Parallel Kinematic Mechanisms ◽  
Stiffness Characteristics ◽  
Kinematic Mechanisms ◽  
Platform Tilt

Parallel kinematic mechanisms (PKMs) provide high stiffness and compact structures that are suitable for a large number of applications, including 5-axis milling. This paper presents a new pentapod-based PKM with an additional redundant degree-of-freedom (DOF) capable of reaching platform tilt angles of at least 90 deg over a large workspace. The proposed new PKM has a 6DOF 4 × SPRR + 1 × PSPR architecture. It is compared herein to Metrom® Pentapod as well as to several other pertinent PKMs in terms of workspace and dynamic stiffness. It is shown that the proposed mechanism can yield a tangibly larger workspace volume, when compared to those PKMs, while maintaining its high stiffness characteristics.

Modal Analysis and Modeling of a Parallel Kinematic Machine

1999 ◽  
Author(s):  
David S. Hardage ◽  
Gloria J. Wiens
Keyword(s):  
Finite Element ◽  
Resonant Frequency ◽  
Structural Dynamics ◽  
Preliminary Data ◽  
Element Model ◽  
Parallel Kinematic Machine ◽  
Parallel Kinematic ◽  
Machine Configuration ◽  
Stiffness Characteristics ◽  
The Finite Element Model

Abstract This paper presents the results of a mini-modal survey on the Hexel Tornado 2000, a parallel kinematic machine tool located at Sandia National Laboratories, and discusses the finite element model that is used to simulate the structural dynamics of this machine. Preliminary data suggests a dependency of resonant frequency and stiffness characteristics on machine configuration.

scholarly journals PATH PLACEMENT OPTIMIZATION OF MANIPULATORS BASED ON ENERGY CONSUMPTION: APPLICATION TO THE ORTHOGLIDE 3-AXIS

2009 ◽  
Vol 33 (3) ◽  
pp. 523-541 ◽  
Author(s):  
Raza Ur-Rehman ◽  
Stéphane Caro ◽  
Damien Chablat ◽  
Philippe Wenger
Keyword(s):  
Energy Consumption ◽  
Optimal Path ◽  
Electric Energy ◽  
Optimal Location ◽  
Degree Of Freedom ◽  
Parallel Kinematic Machine ◽  
Dynamic Constraints ◽  
Placement Optimization ◽  
Parallel Kinematic ◽  
Three Degree Of Freedom

This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace of a manipulator with minimal electric energy used by the actuators while taking into account the geometric, kinematic and dynamic constraints. The proposed methodology is applied to the Orthoglide 3-axis, a three-degree-of-freedom translational parallel kinematic machine (PKM), as an illustrative example.

Multiobjective optimization of parallel kinematic mechanisms by the genetic algorithms

Robotica ◽  
2011 ◽  
Vol 30 (5) ◽  
pp. 783-797 ◽  
Author(s):  
Ridha Kelaiaia ◽  
Olivier Company ◽  
Abdelouahab Zaatri
Keyword(s):  
Genetic Algorithms ◽  
Multiobjective Optimization ◽  
High Speed ◽  
Optimization Problem ◽  
Multiobjective Optimization Problem ◽  
Dimensional Synthesis ◽  
Nsga Ii ◽  
Parallel Kinematic ◽  
Parallel Kinematic Mechanisms ◽  
Kinematic Mechanisms

SUMMARYIt is well known that Parallel Kinematic Mechanisms (PKMs) have an intrinsic dynamic potential (very high speed and acceleration) with high precision and high stiffness. Nevertheless, the choice of optimal dimensions that provide the best performances remains a difficult task, since performances strongly depend on dimensions. On the other hand, there are many criteria of performance that must be taken into account for dimensional synthesis, and which are sometimes antagonist. This paper presents an approach of multiobjective optimization for PKMs that takes into account several criteria of performance simultaneously that have a direct impact on the dimensional synthesis of PKMs. We first present some criteria of performance such as the workspace, transmission speeds, stiffness, dexterity, precision, as well as dynamic dexterity. Secondly, we present the problem of dimensional synthesis, which will be defined as a multiobjective optimization problem. The method of genetic algorithms is used to solve this type of multiobjective optimization problem by means of NSGA-II and SPEA-II algorithms. Finally, based on a linear Delta architecture, we present an illustrative application of this methodology to a 3-axis machine tool in the context of manufacturing of automotive parts.

Kinematics, Dynamics and Vibration Models for 3RPR Parallel Kinematics Manipulator

2013 ◽  
Author(s):  
Bashar El-Khasawneh ◽  
Anas Alazzam
Keyword(s):  
Dynamic Stiffness ◽  
Dynamic Performance ◽  
Inverse Kinematic ◽  
Parallel Kinematics ◽  
Stiffness Modeling ◽  
Noise Rejection ◽  
Parallel Link ◽  
Parallel Kinematic ◽  
Kinematic Mechanisms ◽  
Dynamics And Vibration

Parallel link manipulators are the type of mechanisms that have closed kinematics chains. Some of their advantages over open kinematics chains (called also serial kinematics manipulators) are their high stiffness and accuracy. This paper carries out forward and inverse kinematic and dynamic analysis on a certain type of parallel kinematic mechanisms. This is needed to conduct vibration analysis on the same platform. The type of mechanism is planar 3 RPR manipulator. This entails identifying the modes of the manipulator. A simplified vibration theoretical model is derived. This derivation helps in the optimization of parallel kinematics machine design for improved/optimized dynamic performance. The implications of dynamic stiffness modeling should reflect on better noise rejection, less chatter during machining, and increasing the bandwidth of such mechanisms to admit running at higher speeds.

Study of Redundantly Actuated DELTA-Type Parallel Kinematic Mechanisms

2017 ◽  
pp. 291-298 ◽  
Author(s):  
Burkhard Corves ◽  
Seyed Amirreza Shahidi ◽  
Michael Lorenz ◽  
Sami Charaf Eddine ◽  
Mathias Hüsing
Keyword(s):  
Delta Type ◽  
Redundantly Actuated ◽  
Parallel Kinematic ◽  
Parallel Kinematic Mechanisms ◽  
Kinematic Mechanisms
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