Title :
Optimal link design of a parallel machine tool based on manipulability analysis
Author :
Hong, Keum-Shik ; Kim, Jeom-Goo ; Lee, Seung-Hwan
Author_Institution :
Sch. of Mech. Eng., Pusan Nat. Univ., South Korea
Abstract :
In this paper, the input-output transmission characteristics of the Eclipse, which is a type of parallel machine tool capable of 5 face rapid machining, is investigated. By splitting the weighted Jacobian matrix into two parts, the force and moment transmission characteristics, together with the velocity and angular velocity transmission characteristics, are analyzed. A new manipulability measure, which combines the volume of the manipulability ellipsoid and the condition number of the split Jacobian matrix, is proposed. Two link parameters, the ratio of two radii of the upper and lower platforms and the length of a supporting link of the Eclipse, are designed by applying the new manipulability measure. Computer simulations are provided
Keywords :
Jacobian matrices; kinematics; machine tools; 5 face rapid machining; Eclipse; angular velocity transmission characteristics; computer simulations; condition number; force transmission characteristics; input-output transmission characteristics; kinematic analysis; manipulability analysis; manipulability ellipsoid; moment transmission characteristics; optimal link design; parallel machine tool; split Jacobian matrix; supporting link length; velocity transmission characteristics; weighted Jacobian matrix splitting; Computer numerical control; Jacobian matrices; Kinematics; Machine tools; Machining; Manufacturing; Mechanical engineering; Milling machines; Parallel machines; Turning;
Conference_Titel :
Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on
Conference_Location :
Pusan
Print_ISBN :
0-7803-7090-2
DOI :
10.1109/ISIE.2001.931973
