OPTIMIZATION DESIGN AND PERFORMANCE COMPARISON OF TWO 5-DOF PARALLEL MANIPULATORS USED FOR LOADING DEVICE

被引：0

作者：

Zhu, Bin ^{[1
,2
]}

Wang, Liping ^{[1
,2
]}

Wu, Jun ^{[1
,2
]}

Li, Qi ^{[3
]}

机构：

[1] State Key Laboratory of Tribology, Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing,100084, China

[2] Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing,100084, China

[3] Tianjin Key Laboratory of Aerospace Intelligent Equipment Technology, Tianjin Institute of Aerospace Mechanical and Electrical Equipment, Tianjin,300301, China

来源：

International Journal of Robotics and Automation | 2022年 / 37卷 / 04期

关键词：

Geometry - Loads (forces) - Machine tools - Manipulators;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

The reliability study of machine tools draws more and more attention both in academia and industry, and the loading device is very important for the reliability test as it can provide force and torque to simulate the cutting force. This paper proposes two 5-degrees of freedom parallel manipulators for developing loading devices, one with 3UPS–2UPU chains and the other with 4UPS–UPU chains. Workspace, payload uniformity and stiffness performance indices are defined for the two parallel manipulators, and the corresponding performance atlases are represented graphically in the design space. Based on the performance atlases, the geometrical parameters without dimension are determined. The optimum dimensional parameters are achieved based on the non-dimensional parameters. The workspace, payload uniformity and stiffness of the two parallel manipulators with optimum geometric parameters are compared. The results show that the 3UPS–2UPU parallel manipulator has better payload uniformity and higher stiffness than the 4UPS–UPU parallel manipulator. Thus, the 3UPS–2UPU parallel manipulator is used to develop a loading device for 5-axis machine tools. This paper is not only important for designers to develop the loading device but also helpful for researchers to find a better parallel manipulator for the loading device. © 2022 Acta Press. All rights reserved.

引用

页码：310 / 320