Journal of Shanghai Jiaotong University ›› 2017, Vol. 51 ›› Issue (8): 992-999.doi: 10.16183/j.cnki.jsjtu.2017.08.014

Previous Articles     Next Articles

 Kinetostatic Modeling and Analysis of
 an ExeVariant Parallel Kinematic Machine

 TANG Tengfei1,ZHANG Jun2,ZHAO Yanqin1   

  1.  1. School of Mechanical Engineering, Anhui University of Technology, Ma’anshan 243032, Anhui, China;
     2. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China
  • Online:2017-08-30 Published:2017-08-30
  • Supported by:

Abstract:  A novel Exevariant PKM with a topological arrangement of 2RPU&1RPS was proposed by the authors to achieve a better platform rotational ability over the Exechon parallel kinematic machine (PKM). After introducing the concept design, the mobility analysis and inverse kinematics of the proposed Exevariant PKM are conducted. With the substructure synthesis techniques, a kinetostatic model that includes joint deflections and limb flexibilites is developed to investigate the kinetostatic characteristics of the Exevariant PKM. The platform’s elastic displacements and joint reaction forces/moments of the Exevariant PKM at the extreme position are analyzed. Furthermore, their mappings over any work plane are evaluated throughout the entire workspace. The results reveal that the gravitycaused elastic displacements of the platform and joint force/moment reactions are noticeable. The mappings of platform’s elastic displacements and joint forces/moments reactions in the entire workspace are positiondependant and demonstrate a symmetry over any given work plane.

Key words:  parallel kinematic machine, Exevariant, inverse kinematic, kinetostatic, substructure synthesis

CLC Number: