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 Jiao Tong University, 2017, 51(8): 992-999.

References

［1］CUANUrquizo E, RODRIGUEZLeal E. Kinematic analysis of the 3CUP parallel mechanism［J］. Robotics and ComputerIntegrated Manufacturing, 2013, 29(5): 382395.
［2］XIE F, LIU X J, LI T. Type synthesis and typical application of 1T2Rtype parallel robotic mechanisms［J］. Mathematical Problems in Engineering, 2013 (9): 497504.
［3］ZHANG D, GOSSELIN C M. Kinetostatic analysis and design optimization of the tricept machine tool family［J］. Journal of Manufacturing Science and Engineering, 2002, 124(3): 725733.
［4］HENNES N. Ecospeedan innovative machinery concept for high performance 5axis machining of large structural components in aircraft engineering［C］//3rd Chemnitz Parallel Kinematic Seminar. Zwickau: Verlag Wissenschaftliche Scripten, 2002: 763774.
［5］LI Y G, LIU H T, ZHAO X M, et al. Design of a 3DOF PKM module for large structural component machining［J］. Mechanism and Machine Theory, 2010, 45(6): 941954.
［6］NEUMANN K E. Exechon concept［J］. Parallel Kinematic Machines in Research and Practice, 2006, 33: 787802.
［7］李彬, 黄田, 刘海涛, 等. Exechon 混联机器人的三自由度并联机构模块位置分析［J］. 中国机械工程, 2010 (23): 27852789.
LI Bin, HUANG Tian, LIU Haitao, et al. Position analysis of a 3DOF PKM module for a 5DOF hybrid robot Exechon［J］. Chinese Journal of Mechanical Engineering, 2010 (23): 27852789.
［8］ZHANG J, ZHAO Y Q, JIN Y. Kinetostaticmodelbased stiffness analysis of Exechon PKM［J］. Robotics and ComputerIntegrated Manufacturing, 2015, 37(C): 208220
［9］ZHANG J, ZHAO Y Q, JIN Y. Elastodynamic Modeling and analysis for an Exechon parallel kinematic machine［J］. Journal of Manufacturing Science and Engineering, 2016, 138(3): 031011.
［10］BI Z M, KANG B. An inverse dynamic model of overconstrained parallel kinematic machine based on NewtonEuler formulation［J］. Journal of Dynamic Systems, Measurement, and Control, 2014, 136(4): 041001.
［11］BI Z M, JIN Y. Kinematic modeling of Exechon parallel kinematic machine［J］. Robotics and ComputerIntegrated Manufacturing, 2011, 27(1): 186193.
［12］TANG T F, ZHAO Y Q, ZHANG J, et al. Conceptual design and workspace analysis of an Exechoninspired parallel kinematic machine［C］//Advances in Reconfigurable Mechanisms and Robots II. Switzerland: Springer International Publishing, 2016: 445453.
［13］付红栓, 赵恒华, 杨辉. 3TPT型并联机床静力学及刚度研究［J］. 组合机床与自动化加工技术, 2013(1): 4244.
FU Hongshuan, ZHAO Henghua, YANG Hui. Study on the statics and stiffness of 3TPT parallel machine tool［J］. Modular Machine Tool & Automatic Manufacturing Technique, 2013(1): 4244.
［14］PIRAS G, CLEGHORN W L, MILLS J K. Dynamic finiteelement analysis of a planar highspeed, highprecision parallel manipulator with flexible links［J］. Mechanism & Machine Theory, 2005, 40(7):849862.
［15］KLIMCHIK A, CHABLAT D, PASHKEVICH A. Stiffness modeling for perfect and nonperfect parallel manipulators under internal and external loadings［J］. Mechanism and Machine Theory, 2014, 79: 128.
［16］落海伟, 张俊, 王辉, 等. 3RPS并联机构静刚度建模方法［J］. 天津大学学报(自然科学与工程技术版), 2015, 48(09): 797803.
LUO Haiwei, ZHANG Jun, WANG Hui, et al. Static stiffness modeling method of 3RPS PKM［J］. Journal of Tianjin University (Science and Technology), 2015, 48(09): 797803.
［17］黄真. 高等空间机构学［M］. 北京：高等教育出版社, 2006.
［18］MAJOU F, GOSSELIN C, WENGER P, et al. Parametric stiffness analysis of the Orthoglide［J］. Mechanism and Machine Theory, 2007, 42(3): 296311.

[1]	ZHAO Ziren1, DU Shichang1, HUANG Delin1, REN Fei2, LIANG Xinguang2. Modelling and Bottleneck Analysis of Product Quality in Transient Phase#br# of MultiStage Manufacturing Systems Based on Markovian Chains [J]. Journal of Shanghai Jiao Tong University, 2017, 51(10): 1166-1173.
[2]	ZHOU Penghui, MA Hongzhan, CHEN Dongping, CHEN Mengyue, CHU Xuening. Identification of Product Redesign Modules Based on#br# Fuzzy Random Failure Mode and Effects Analysis [J]. Journal of Shanghai Jiao Tong University, 2017, 51(10): 1189-1195.
[3]	LI Changxi1, 2, ZHOU Yan1, LIN Han3, LI Lingzhi1, GUO Ge1. TemporalSpatial Sequential Fusion Recognition Method of#br# Ballistic Missile Target Based on MIMOFNN Model [J]. Journal of Shanghai Jiao Tong University, 2017, 51(9): 1138-.
[4]	FENG Mingyue, HE Minghao, HAN Jun, YU Chunlai. High Resolution Direction of Arrival Estimation Based on#br# Covariance Fitting Estimation of Signal Parameters by#br# Rotational Invariance Technique Algorithm [J]. Journal of Shanghai Jiao Tong University, 2017, 51(9): 1145-.
[5]	?YANG Ping1,SHENG Jie1,WANG Yucheng2,LI Zhuyong1,JIN Zhijian1,HONG Zhiyong1. Quench Propagation Characteristics Influenced by NonUniform Properties of YBa2Cu3O7δ High Temperature Superconducting Tape [J]. Journal of Shanghai Jiaotong University, 2017, 51(9): 1090-1096.
[6]	WANG Xing, ZHOU Yipeng, TIAN Yuanrong, CHEN You, ZHOU Dongqing, HE Jiyuan. Sparse Decomposition for Frequency Modulation Radar Signal Based on#br# Advanced Genetic Algorithm and SinChirplet Atom [J]. Journal of Shanghai Jiao Tong University, 2017, 51(9): 1124-1130.
[7]	ZHANG Liangjun1, 2, LI Xiaoci1, WU Jingyi1, CAI Aifeng1. ThermalStructure Coupling Analysis of #br# Microgravity Environment Simulation Suspension Structure for #br# Large Space Deployable Mechanisms [J]. Journal of Shanghai Jiao Tong University, 2017, 51(8): 954-961.
[8]	XIA Hailiang1, 2, LIU Yakun1, 2, LIU Quanzhen3, LIU Baoquan3, FU Zhengcai1, 2. Metal Ablation Affected by Electrode Shapes Under#br# Long Continuing Lightning Current [J]. Journal of Shanghai Jiao Tong University, 2017, 51(8): 903-908.
[9]	GU Jiayang, XIE Yulin, TAO Yanwu, HUANG Xianghong, WU Jie. Numerical Simulation and Experimental Study on VortexInduced#br# Motion of a New Type of Floating Drilling Production Storage Offloading [J]. Journal of Shanghai Jiao Tong University, 2017, 51(7): 878-885.
[10]	LIN Da, ZHU Yijia, WEI Xiaodong, WANG Zhiyu, ZHANG Wugao. Combustion and Particle Emission Characteristics Affected by#br# Fuel Supply Parameters for a Diesel Engine Fuelled with#br# Polyoxymethylene Dimethyl Ethers/Diesel [J]. Journal of Shanghai Jiao Tong University, 2017, 51(7): 787-795.
[11]	MENG Qingyang1, YAN Weiwu1, HU Yong1, CHENG Jianlin1, CHEN Shihe2, ZHANG Xi2. Model Identification Based on Subspace Model Identification of#br# Superheated Steam System in UltraSupercritical CoalFired Power Unit [J]. Journal of Shanghai Jiao Tong University, 2017, 51(6): 672-678.
[12]	JIANG Huajuna, CAI Yana, b, LI Chaohaoa, LI Fanga, b, HUA Xueminga, b. Recognition Method for Gas Pores on XRay Image of Lap Joints#br# Based on the Improved Sobel Algorithm [J]. Journal of Shanghai Jiao Tong University, 2017, 51(6): 665-671.
[13]	DONG Guanhua,YIN Qin,YIN Guofu,XIANG Zhaowei. Identification and Modeling of Coupling Dynamic Stiffness in Joints of Machine Tool [J]. Journal of Shanghai Jiaotong University, 2015, 49(09): 1263-1434.
[14]	XIE Qijiang,YU Haidong. Coupling Relationship Between Loads on Cutterhead of Tunnel Boring Machine and Contact Stiffness of Gripper Shoes and Rocks [J]. Journal of Shanghai Jiaotong University, 2015, 49(09): 1269-1275.
[15]	ZHONG Jianlin1,MA Dawei1,REN Jie1,LI Shijun2,WANG Xu3. Static Compression Analysis of Rubber Hollow Cylinder Based on Plane Strain Assumption [J]. Journal of Shanghai Jiaotong University, 2015, 49(09): 1276-1280.