A parallel kinematic machine (PKM) topology can only give its best performance when its geometrical parameters are optimized. In this paper, dimensional synthesis of a newly developed PKM is presented for the first time. An optimization method is developed with the objective to maximize both workspace volume and global dexterity of the PKM. Results show that the method can effectively identify design parameter changes under different weighted objectives. The PKM with optimized dimensions has a large workspace to footprint ratio and a large well-conditioned workspace, hence justifies its suitability for large volume machining.
Kinematic Analysis and Dimensional Synthesis of Exechon Parallel Kinematic Machine for Large Volume Machining
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received August 5, 2013; final manuscript received December 18, 2014; published online March 11, 2015. Assoc. Editor: Xianmin Zhang.
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Jin, Y., Bi, Z. M., Liu, H. T., Higgins, C., Price, M., Chen, W. H., and Huang, T. (November 1, 2015). "Kinematic Analysis and Dimensional Synthesis of Exechon Parallel Kinematic Machine for Large Volume Machining." ASME. J. Mechanisms Robotics. November 2015; 7(4): 041004. doi: https://doi.org/10.1115/1.4029499
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