Development and Experimental Study of a Redundant Hybrid Machine with Five-Face Milling Capability in One Setup

다국어 초록 (Multilingual Abstract)

A hybrid milling machine with actuation redundancy is developed in the current paper. This machine is capable of five-face milling in one setup. A redundant parallel kinematic module (PKM) is proposed by the introduction of actuation redundancy. Based on this module, the hybrid mechanism of the machine is presented. A local minimized transmission index is proposed to evaluate the motion/force transmissibility of the redundant PKM. The finite element analysis (FEA) simulation is used in the mechanical design of the machine to verify the stiffness and frequency characteristics of the model. After the manufacture and assembly of the machine, experiments on stiffness, accuracy, and machining are carried out. The capability of five-face milling in one setup is verified, and the finished work piece has good surface quality.

참고문헌 (Reference)

1 Motevalli, B., "Structural Synthesis of 5 Dofs 3T2R Parallel Manipulators with Prismatic Actuators on the Base" 58 (58): 307-321, 2010

2 신현표, "Stiffness Enhancement of a Redundantly Actuated Parallel Machine Tool by Dual Support Rims" 한국정밀공학회 13 (13): 1539-1547, 2012

3 Tale Masouleh, M, "Singularity Analysis of 5-Rpur Parallel Mechanisms" 57 (57): 1107-1121, 2011

4 Zhu, S. J., "Singularity Analysis for Six Practicable 5-Dof Fully-Symmetrical Parallel Manipulators" 44 (44): 710-725, 2009

5 Wang, J., "Performance Evaluation of Parallel Manipulators : Motion/Force Transmissibility and its Index" 45 (45): 1462-1476, 2010

6 Li, Q., "Parasitic Motion Comparison of 3-PRS Parallel Mechanism with Different Limb Arrangements" 27 (27): 389-396, 2011

7 Metrom, "PM1400"

8 Xie, F., "Optimal Design and Development of a Decoupled a/B-Axis Tool Head with Parallel Kinematics" 2010 : 1-14, 2010

9 Gao, F., "New Kinematic Structures for 2-, 3-, 4-, And 5-Dof Parallel Manipulator Designs" 37 (37): 1395-1411, 2002

10 박정환, "Near Net-Shape Five-axis Face Milling of Marine Propellers" 한국정밀공학회 10 (10): 5-12, 2009

11 Wang, L. P., "Kinematic Calibration of the 3-DoF Parallel Module of a 5-Axis Hybrid Milling Machine" 29 (29): 535-546, 2011

12 Varziri, M. S, "Kinematic Calibration of a Wire-Actuated Parallel Robot" 42 (42): 960-976, 2007

13 Jeong, J. I., "Kinematic Calibration for Redundantly Actuated Parallel Mechanisms" 126 (126): 307-318, 2004

14 Saglia, J. A., "Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism that Eliminates Singularities and Improves Dexterity" 130 (130): 124501-, 2008

15 Masouleh, M. T., "Forward Kinematic Problem of 5-RPUR Parallel Mechanisms(3T2R)with Identical Limb Structures" 46 (46): 945-959, 2011

16 Kim, J., "Eclipse II : A New Parallel Mechanism Enabling Continuous 360-Degree Spinning Plus Three-Axis Translational Motions" 18 (18): 367-373, 2002

17 Schwaar, C., "Device for the Displacement and/or Positioning of an Object in Five Axes"

18 Liu, X. J., "Design of a Three-Axis Articulated Tool Head with Parallel Kinematics Achieving Desired Motion/Force Transmission Characteristics" 132 (132): 1087-1357, 2010

19 Xie, F. G., "Design and Experimental Study of the SPKM165, a Five-Axis Serial-Parallel Kinematic Milling Machine" 54 (54): 1193-1205, 2011

20 Kim, J., "Design and Analysis of a Redundantly Actuated Parallel Mechanism for Rapid Machining" 17 (17): 423-434, 2001

21 Mohamed, M. G, "Design and Analysis of Kinematically Redundant Parallel Manipulators with Configurable Platforms" 21 (21): 277-287, 2005

22 김선호, "Design and Analysis of Decoupled Parallel Mechanism with Redundant Actuator" 한국정밀공학회 10 (10): 93-99, 2009

23 Tutunea-Fatan, O. R, "Configuration Analysis of Five-Axis Machine Tools Using a Generic Kinematic Model" 44 (44): 1235-1243, 2004

24 Wahl, J, "Articulated Tool Head"

25 Gao, F., "A Novel 5-Dof Fully Parallel Kinematic Machine Tool" 31 (31): 201-207, 2006

26 Liu, X. J., "A New Family of Spatial 3-Dof Fully-Parallel Manipulators with High Rotational Capability" 40 (40): 475-494, 2005

27 Liu, X. J., "A New Family of Spatial 3-DoF Parallel Manipulators with Two Translational and One Rotational DoFs" 27 (27): 241-248, 2009

28 Kang, D. S., "A Micro-Positioning Parallel Mechanism Platform with 100-Degree Tilting Capability" 55 (55): 377-380, 2006

29 Harib, K. H., "A Hexapod-Based Machine Tool with Hybrid Structure : Kinematic Analysis and Trajectory Planning" 47 (47): 1426-1432, 2007

30 Geldart, M., "A Direct Comparison of the Machining Performance of a Variax 5 Axis Parallel Kinetic Machining Centre with Conventional 3 and 5 Axis Machine Tools" 43 (43): 1107-1116, 2003

31 Jeon, D., "A Calibration Method of Redundantly Actuated Parallel Mechanism Machines Based on Projection Technique" 59 (59): 413-416, 2010