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

doi:10.16183/j.cnki.jsjtu.2017.08.014

Abstract

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:

TH 112

TANG Tengfei1,ZHANG Jun2,ZHAO Yanqin1. Kinetostatic Modeling and Analysis of
an ExeVariant Parallel Kinematic Machine[J]. Journal of Shanghai Jiaotong University, 2017, 51(8): 992-999.

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