Parallel Kinematic Machines: Design, Analysis and Simulation in an Integrated Virtual Environment

[+] Author and Article Information
Dan Zhang1

Faculty of Engineering and Applied Science,  University of Ontario Institute of Technology, Oshawa, ON L1H 7K4, CanadaDan.Zhang@uoit.ca

Lihui Wang, Sherman Y. Lang

Integrated Manufacturing Technologies Institute,  National Research Council Canada, London, Ontario, N6G 4X8, Canada


Corresponding author. Telephone: 905 721 3111, ext. 2965; fax: 905 721 3370.

J. Mech. Des 127(4), 580-588 (Sep 14, 2004) (9 pages) doi:10.1115/1.1897745 History: Received April 09, 2004; Revised September 14, 2004

Selecting a configuration for a machine tool that will best suit the needs of a forecast set of requirements can be a difficulty and costly exercise. This problem can now be addressed using an integrated virtual validation system. The system includes kinematic/dynamic analysis, kinetostatic model, CAD module, FEM module, CAM module, optimization module and visual environment for simulation and collision detection of the machining and deburring. It is an integration of the parallel kinematic machines (PKM) design, analysis, optimization and simulation. In this paper, the integrated virtual system is described in detail; a prototype of a 3-dof PKM is modeled, analyzed, optimized and remote controlled with the proposed system. Some results and simulations are also given. Its effectiveness is shown with the results obtained by NRC-IMTI during the design of the 3-dof NRC PKM.

Copyright © 2005 by American Society of Mechanical Engineers
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Figure 1

Integrated environment for PKM design and analysis

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Figure 2

Schematic representation of NRC PKM

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Figure 3

Five-axis tripod-based PKM system

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Figure 4

Simulation results of global compliance mean value μW and global standard deviation σW: Region 1: α1,α2<1, the leg is more flexible than the actuator. Region 2: α1,α2>1 and α2>α1, the actuator is more flexible than the leg, while for the leg, the bending is larger than the axial deformation. Region 3: α1,α2>1 and α1>α2, the actuator is more flexible than the leg, while for the leg, the axial deformation is larger than the bending.

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Figure 5

The evolution of the performance of the NRC PKM

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Figure 6

Java 3D scene graph architecture for NRC PKM

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Figure 7

Web-based remote monitoring and control. (a) Initial state of NRC PKM. (b) Working state of NRC PKM.




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