Kinetostatic modeling and analysis of an exechon parallel kinematic machine(PKM) module

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• 作者：Yanqin Zhao ; Yan Jin ; Jun Zhang
• 关键词：parallel kinematic machine ; substructure synthesis ; kinetostatic ; stiffness ; Exechon
• 刊名：Chinese Journal of Mechanical Engineering
• 出版年：2016
• 出版时间：January 2016
• 年：2016
• 卷：29
• 期：1
• 页码：33-44
• 全文大小：3,748 KB
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• 作者单位：Yanqin Zhao (1)
  Yan Jin (2)
  Jun Zhang (1) (3)
  
  1. School of Mechanical Engineering, Anhui University of Technology, Ma’anshan, 243032, China
  2. School of Mechanical and Aerospace Engineering, Queen’ s University, Belfast, UK
  3. State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an, 710049, China
  
• 刊物主题：Mechanical Engineering; Theoretical and Applied Mechanics; Manufacturing, Machines, Tools; Engineering Thermodynamics, Heat and Mass Transfer; Power Electronics, Electrical Machines and Networks; Electronics and Microelectronics, Instrumentation;
• 出版者：Springer Berlin Heidelberg
• ISSN：2192-8258

文摘

As a newly invented parallel kinematic machine(PKM), Exechon has found its potential application in machining and assembling industries due to high rigidity and high dynamics. To guarantee the overall performance, the loading conditions and deflections of the key components must be revealed to provide basic mechanic data for component design. For this purpose, a kinetostatic model is proposed with substructure synthesis technique. The Exechon is divided into a platform subsystem, a fixed base subsystem and three limb subsystems according to its structure. By modeling the limb assemblage as a spatial beam constrained by two sets of lumped virtual springs representing the compliances of revolute joint, universal joint and spherical joint, the equilibrium equations of limb subsystems are derived with finite element method(FEM). The equilibrium equations of the platform are derived with Newton’s 2nd law. By introducing deformation compatibility conditions between the platform and limb, the governing equilibrium equations of the system are derived to formulate an analytical expression for system’s deflections. The platform’s elastic displacements and joint reactions caused by the gravity are investigated to show a strong position-dependency and axis-symmetry due to its kinematic and structure features. The proposed kinetostatic model is a trade-off between the accuracy of FEM and concision of analytical method, thus can predict the kinetostatics throughout the workspace in a quick and succinct manner. The proposed modeling methodology and kinetostatic analysis can be further expanded to other PKMs with necessary modifications, providing useful information for kinematic calibration as well as component strength calculations. Keywords parallel kinematic machine substructure synthesis kinetostatic stiffness Exechon