Design of a 4-DOF hybrid PKM module for large structural component assembly

被引：59

作者：

Huang, T. ^{[1
,2
]}

Wang, P. F. ^{[1
]}

Zhao, X. M. ^{[1
]}

Chetwynd, D. G. ^{[2
]}

机构：

[1] Tianjin Univ, Sch Mech Engn, Tianjin 300072, Peoples R China

[2] Univ Warwick, Sch Engn, Coventry CV4 7AL, W Midlands, England

来源：

CIRP ANNALS-MANUFACTURING TECHNOLOGY | 2010年 / 59卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Parallel kinematic machines; Virtual prototype design; Assembly;

D O I：

10.1016/j.cirp.2010.03.098

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents a novel 4-DOF hybrid parallel kinematic machine (PKM), named Bicept, comprising a 2-DOF parallel mechanism plus a 2-DOF rotating head. The PKM is designed as a rigid yet compact module that can act as a robot cell moving along a long track for aircraft structural component assembly, a wing box for example. Dimensional synthesis of the 2-DOF parallel mechanism is carried out to achieve a relatively good kinematic performance within a prescribed task workspace that has a large width/height ratio. Then, using commercial CAE software, rigid body dynamics and stiffness analyses are carried out for motor sizing and performance evaluation of a full-size virtual prototype. (C) 2010 CIRP.

引用

页码：159 / 162

页数：4

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