Abstract
Parallel Kinematic Machines (PKMs) have many advantages and have been widely used in the machine industry. Benefitting from its modular structure, a PKM is more reconfigurable than traditional serial machines. In this paper, a new type of driving strut module and innovative joints are designed for the Reconfigurable Parallel Kinematic Machine (RPKM). The new driving strut module can be changed from linear drive mode to telescopic drive mode easily, and the new spherical joint and universal joint are designed to achieve a large rotation angle. The inverse kinematics problems in relation to the 6-DOF RPKM are analysed, and the Workspace Volume Index (WVI) and the Global ConditionIndex (GCI) are adopted to design the RPKM. According to the WVI and GCI analysis of the selected parameters for two types of 6-DOF PKM, the dimensional parameters of the RPKM are designed. In the end, the new type of RPKM prototype is built, with which a wax pattern is machined.
Highlights
In recent years, the ever‐changing manufacturing environment caused by intensive competition on a global scale and rapid changes in process technology has led to the requirement for an increasingly efficient production system
Thanks to its modular structure, a Parallel Kinematic Machines (PKMs) is more reconfigurable than the traditional serial machine
We show two wax patterns milled by the Reconfigurable Parallel Kinematic Machine (RPKM)
Summary
The ever‐changing manufacturing environment caused by intensive competition on a global scale and rapid changes in process technology has led to the requirement for an increasingly efficient production system. With the classic manufacturing process, it is difficult to fabricate a high precision spherical joint with a large rotation angle To solve this problem, an integrated joint with either two DOFs or three DOFs should be designed. The inverse kinematics problems with regard to the two types of 6‐DOF parallel manipulators are described and a global optimal design index is used to design the RPKM, which can satisfy the requirement of the RPKM and realize workspace and dexterity capability. We show two wax patterns milled by the RPKM
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