Kinematics analysis of a hybrid manipulator for computer controlled ultra-precision freeform polishing

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• 作者：Peng Xu^a ; ^b ; Chi-Fai Cheung^a ; ^{benny.cheung@polyu.edu.hk} ; Bing Li^b ; ^{libing.sgs@hit.edu.cn} ; Lai-Ting Ho^a ; Ju-Fan Zhang^b
• 关键词：Kinematics ; Hybrid manipulator ; Ultra-precision polishing ; Freeform surface ; Precession motion
• 刊名：Robotics and Computer-Integrated Manufacturing
• 出版年：2017
• 出版时间：April 2017
• 年：2017
• 卷：44
• 期：Complete
• 页码：44-56
• 全文大小：5026 K
• 卷排序：44

文摘

A novel hybrid manipulator for ultra-precision freeform polishing is proposed. Precession polishing process is adopted to produce Gaussian-like tool influence function. A detailed kinematics model of the hybrid manipulator is presented. An example of saddle surface finishing with this manipulator is analyzed theoretically.