Design of parallel kinematic systems using the planar enveloping algorithm and ADAMS computer program

Abstract

The planar enveloping algorithm is combined with a parallel kinematic structure and a tool-optimization criterion to help in the design of a parallel kinematic machine (PKM). These three components, put together for the purpose of synthesis and design of a PKM, are defined as a parallel kinematic design system (PKDS). As a result, there are machining processes so that the PKM can be designed to use its actuators to position the tool, as well as to drive the cutting (grinding) motion of the tool, thus saving resources. This is in contrast to having a dedicated serial kinematic chain for the tool axis. The design process has successfully employed the virtual prototyping computer program ADAMS (Automatic Dynamic Analysis of Mechanical Systems) for defining the generalized coordinates and the loads in the parallel kinematic structure used to envelope convex surfaces.

Keywords

actuator enveloping end effector hexapods PKM PKDS

Get full access to this article

View all access options for this article.

References

Merlet

J.-P.

The importance of optimal design for parallel structures. In Proceedings of the First American-European Forum of Parallel Kinematic Machines, Milano, 1998, pp. 215–230.

Orlandea

Contribution to the mechanism synthesis based on the forming of linear enveloping curves

Res. Study Appl. Mech. 1969, 28 (3), 731–745.

Mangeron

Oguztoreli

Orlandea

An algorithm for producing circular and linear envelope curves in plane mechanisms consisting of complex kinematic chains with applications in digital control of machine tools

Accad. Lincei, 1969, XLVII (6), 493–501.

Orlandea

N. V.

Contributions to the algorithm of plane-producing envelope surfaces by using parallel kinematic machines structure and kinematics. In Proceedings of the 2003 PKM International Conference, Chemnitz, 2002, pp. 119–137.

Orlandea

Dynamic continuous path synthesis of industrial robots using ADAMS computer program

Trans. ASME, J. Mech. Des. B, 1981, 103, 602–607.

Gosselin

On the design of efficient parallel mechanisms In Computational Methods in Mechanical Systems: Mechanism Analysis, Synthesis and Optimization (Eds Angeles

Zachariev

), NATO ASI Series, 1998, pp. 68–96 (Springer, Berlin).