Abstract
This article presents an approach for the compliance analysis and lightweight design of a two-degree-of-freedom rotating head by considering both gravity and joint/link compliances, which provides a comprehensive understanding on the posture adjustment mechanism of five-degree-of-freedom hybrid manipulator. A kinetostatic analysis is carried out to consider both externally applied wrench imposed upon the end-effector and gravity of all movable components. Then, a deflection analysis integrating both joint and link compliances and formulation of component compliance matrices are completed by using a semi-analytical approach. Finally, the lightweight design of two-degree-of-freedom rotating head is realized by considering the deflection constraints. This approach enables to effectively evaluate the deflections of end-effector caused by both payload and gravity under given operation conditions. Moreover, the established method provides reliable guidelines for the design of two-degree-of-freedom rotating head with superior static rigidities and dynamic behaviors.
Highlights
In modern industries, for example, aerospace, shipbuilding, and precision instruments, five-axis computer numerical control (CNC) machine tools play a critical role in manufacturing machinery components with superior quality.[1,2,3] Two-degree-of-freedom (2-DOF) rotating head is an essential part to fabricate these fiveaxis CNC machine tools because of its excellent performance, such as compact structure, flexible motion, high accuracy, and high rigidity
Zulaika et al.[36] proposed a lightweight design method to minimize the mass of structural components of a milling machine by considering the maximum of the material removal rate. These results demonstrate that the lightweight design can avoid elastic dynamics modeling but implicitly improve the dynamic performance
This article presents an approach for the compliance analysis and lightweight design of a 2-DOF rotating head that can be used as the posture adjustment mechanism of 5-DOF hybrid manipulators
Summary
For example, aerospace, shipbuilding, and precision instruments, five-axis computer numerical control (CNC) machine tools play a critical role in manufacturing machinery components with superior quality.[1,2,3] Two-degree-of-freedom (2-DOF) rotating head is an essential part to fabricate these fiveaxis CNC machine tools because of its excellent performance, such as compact structure, flexible motion, high accuracy, and high rigidity. The lightweight design of the 2DOF rotating head is of great importance to improve the performance of a posture adjusting mechanism of 5-DOF hybrid robot Aluminum alloy is used to manufacture the supporting components of the A-axis and C-axis whose strength is reinforced by using some strengthening ribs in their inner space To meet both excellent static rigidities and dynamic behaviors of the system, this article presents an approach to implement the lightweight design by considering the deflection constraints of the end-effector.
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