Kinematics and Workspace of a Spherical Engraving Machine with the RPR/RRPR Parallel Configuration

Ruiqin Li,Shijie Liang,Shaoping Bai,Jianwei Zhang,Maorong Zhang

doi:10.1007/978-3-030-20131-9_234

Kinematics and Workspace of a Spherical Engraving Machine with the RPR/RRPR Parallel Configuration

Ruiqin Li, Shijie Liang + Show 3 more

https://doi.org/10.1007/978-3-030-20131-9_234

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Publication Date: Jan 1, 2019

Affiliation: North University of China, Aalborg University, Universität Hamburg

#Spherical Parallel Mechanism #Reachable Workspaces + Show 8 more

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Abstract

A spherical engraving machine based on RPR/RRPR spherical parallel mechanism (SPM) is presented. The mathematical model of the RPR/RRPR SPM is established. The forward kinematics and inverse kinematics of the SPM are analyzed. The reachable workspaces of the output reference point of the SPM are solved based on the kinematic analysis and Matlab software. The variation of the reachable workspace under reconfiguration is analyzed. A spherical engraving machine is designed based on the RPR/RRPR spherical parallel configuration for engraving patterns on spherical surfaces of variable diameters.

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