Optimal design of loading device based on a redundantly actuated parallel manipulator

被引：13
作者：
Zhu, Bin [1 ,2 ,3 ]
Wang, Liping [1 ,2 ,3 ]
Wu, Jun [1 ,2 ,3 ]
机构：
[1] Tsinghua Univ, State Key Lab Tribol, Beijing 100084, Peoples R China
[2] Tsinghua Univ, Inst Mfg Engn, Dept Mech Engn, Beijing 100084, Peoples R China
[3] Beijing Key Lab Precis Ultraprecis Mfg Equipment, Beijing 100084, Peoples R China
来源：
MECHANISM AND MACHINE THEORY | 2022年 / 178卷
基金：
中国国家自然科学基金;
关键词：
Loading device; Redundantly actuated parallel manipulator; Motion/force transmission; Prescribed flexible orientation workspace; Regular workspace; OPTIMAL KINEMATIC DESIGN; OPTIMIZATION; RELIABILITY; MECHANISM; QUALITY; INDEX;
D O I：
10.1016/j.mechmachtheory.2022.105084
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Reliability of machine tools has attracted much attention both in academia and industry. The loading device is very important for the reliability study of CNC machine tools as it can apply multi-axis dynamic forces to the spindle to replace cutting tests. A loading device based on the redundantly actuated parallel manipulator (R5LD) with strong loading capability is proposed in this paper. Firstly, to evaluate the loading capability, this paper proposes new transmission indices for redundantly actuated parallel manipulators (PMs). Besides, the prescribed flexible orientation workspace and regular workspace are defined for the loading device. Then, the corresponding performance atlases are represented graphically in the design space. The structure parameters of the R5LD are achieved in the optimum region of performance atlases. Finally, the R5LD with the optimum parameters is compared with the loading device based on the corresponding non-redundant PM. The R5LD has a larger regular workspace and better transmission performance. The additional UPS chain of the R5LD makes the configuration more symmetrical, balances forces distribution among chains, and strengthens the loading capability of the loading device.
引用
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页数：15
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