On performance enhancement of parallel kinematic machine

  • Authors:

  • Dan Zhang;Lihui Wang;Zhen Gao;Xiaoping Su

  • Affiliations:

  • School of Mechanical and Power Engineering, Nanjing University of Technology, Nanjing, China 210009 and Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, O ...;Centre for Intelligent Automation, University of Skövde, Skövde, Sweden 541 28;Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, Canada L1H 7K4;School of Mechanical and Power Engineering, Nanjing University of Technology, Nanjing, China 210009

  • Venue:
  • Journal of Intelligent Manufacturing
  • Year:
  • 2013

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Abstract

This paper proposes a spatial three degrees of freedom (DOF) parallel kinematic machine enhanced by a passive leg and a web-based remote control system. First, the geometric model of the parallel kinematic machine is addressed. In the mechanism, a fourth kinematic link--a passive link connecting the base center to the moving platform center--is introduced. Each of the three parallel limbs is actuated by one prismatic joint, respectively. The additional link has three passive DOF, namely two rotations around x and y axes and one translation along z axis. With the existence of this link, the unwanted motion of the tool (located in the moving platform) is constrained. The fourth link also enhances the global stiffness of the structure and distributes the torque from machining. With the kinematic model, a web-based remote control approach is applied. The concept of the web-based remote manipulation approach is introduced and the principles behind the method are explored in detail. Finally, a remote manipulation is demonstrated to the proposed structure using web-based remote control concept.