MATEC Web Conf.
Volume 95, 20172016 the 3rd International Conference on Mechatronics and Mechanical Engineering (ICMME 2016)
|Number of page(s)||5|
|Section||Robot Design and Control|
|Published online||09 February 2017|
Dimension Synthesis of a Spatial Parallel Kinematic Manipulator Based on S-shaped Test Specimen
State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, 100084 Beijing, China
Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, 100084 Beijing, China
With the development of the aerospace industry, the hybrid machine tool for machining the complicated curved surface is becoming a research hotspot. The S-shaped test specimen proposed by Chengdu Aircraft Industrial Company is an effective test method to verify the ability of machining the complicated curved surface for a machine tool. Considering the spatial parallel kinematic manipulator in a hybrid machine tool provides the complicated orientation motion and its design of structure dimension affects the accuracy of the machine tool, this paper investigates the issue about dimension synthesis of the manipulator based on S-shaped test specimen. By establishing models of the S-shaped test specimen and parallel kinematic manipulator, the motion trajectory of the parallel kinematic manipulator for machining S-shaped test specimen is obtained. According to the motion trajectory and expected performance indices, the result of dimension synthesis for the manipulator is plotted and a set of suitable dimensions is achieved. With the analysis result in this paper, it is helpful to improving the accuracy of machining the S-shaped test specimen.
© The Authors, published by EDP Sciences, 2017
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