Conceptual Design and Workspace Analysis of an Exechon-Inspired Parallel Kinematic Machine推荐.pdf

Conceptual Design and Workspace Analysis of an Exechon-Inspired Parallel Kinematic Machine Tang Tengfei, Zhao Yanqin, Zhang Jun and Jin Yan Abstract Inspired by the commercial application of the Exechon machine, this paper proposed a novel parallel kinematic machine (PKM) named Exe-Variant. By exchanging the sequence of kinematic pairs in each limb of the Exechon machine, the Exe-Variant PKM claims an arrangement of topology and consists of two identical RPU limbs and one RPS limb. The inverse kinematics of the 2RPU/1RPS parallel mechanism was firstly analyzed based on which a conceptual design of the Exe-Variant was carried out. Then an algorithm of reachable workspace searching for the Exe-Variant and the Exechon was proposed. Finally, the workspaces of two example systems of the Exechon and the Exe-Variant with approximate dimensions were numerically simulated and compared. The comparison shows that the Exe-Variant possesses a competitive workspace with the Exechon machine, indi- cating it can be used as a promising reconfigurable module in a hybrid 5-DOF machine tool system. Keywords Parallel kinematic machine Exechon Kinematics Workspace T. Tengfei Z. Yanqin Z. Jun () Anhui University of Technology, Anhui 243032, China e-mail: zhang_jun@ T. Tengfei e-mail: tengfei413zm@163.com Z. Yanqin e-mail: zhaoyanqin_91@163.com Z. Jun State Key Laboratory of High Performance Complex Manufacturing, Central South University, Hunan 410083, China J. Yan Queen’s University Belfast, Belfast BT9 5HN, UK e-mail: y.jin@qub.ac.uk © Springer International Publishing Switzerland 2016 445 X. Ding et al. (eds.), Advances in Reconfigurable Mechanisms and Robots II , Mechanisms and Machine Science 36, DOI 10.1007/978-3-319-23327-7_39 446 T. Tengfei et al. 1