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, indicating it can be used as a promising reconfigurable module in a hybrid 5-DOF machine tool system.
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Acknowledgements
This work was jointly supported by Open Research Fund of Key Laboratory of High Performance Complex Manufacturing (Central South University) with Grant No. Kfkt2013-12, Open Fund of Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures with Grant No. 2014002 and Open Fund of State Key Laboratory for Manufacturing Systems Engineering (Xi’an Jiaotong University) with Grant No. sklms-2015004. The forth author would like to acknowledge for the funding support from Engineering and Physical Science Research Council (EPSRC, ref. EP/K004964/1) of United Kingdom and Investment Northern Ireland PKAAA project.
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Tengfei, T., Yanqin, Z., Jun, Z., Yan, J. (2016). Conceptual Design and Workspace Analysis of an Exechon-Inspired Parallel Kinematic Machine. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_39
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DOI: https://doi.org/10.1007/978-3-319-23327-7_39
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