Applications of equivalent components concept on the singularity analysis of TRR-XY hybrid parallel kinematic machine tools

Shang-Liang Chen, Tsann Huei Chang, Yi Chin Lin

Research output: Contribution to journalArticle

18 Citations (Scopus)

Abstract

The design of using a parallel kinematic mechanism as a structure of machine tools has several good points compared with the traditional machine tools. However, the problem of singularity is usually encountered during real applications. Therefore, singularity analysis is very essential for using a parallel kinematic mechanism in real machining applications. Screw theory based on the Plücker coordinate system is one of the effective methods for analyzing the singularity of a parallel kinematic mechanism. A TRR-XY five DOF parallel kinematic machine tool that was developed in this research is adopted as an example for investigating the feasibility of this method. A 6×6 matrix calculation is usually required in screw theory for analyzing a six DOF mechanism. For a three DOF mechanism, the analysis using the screw theory becomes more complicated. An equivalent component method is addressed in this research to simplify the singularity analysis for a three DOF mechanism. The effects of differently designed dimensions of machine tools on the singularity are also investigated in this research.

Original languageEnglish
Pages (from-to)778-788
Number of pages11
JournalInternational Journal of Advanced Manufacturing Technology
Volume30
Issue number7-8
DOIs
Publication statusPublished - 2006 Oct 1

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Machine tools
Kinematics
Machining

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering

Cite this

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abstract = "The design of using a parallel kinematic mechanism as a structure of machine tools has several good points compared with the traditional machine tools. However, the problem of singularity is usually encountered during real applications. Therefore, singularity analysis is very essential for using a parallel kinematic mechanism in real machining applications. Screw theory based on the Pl{\"u}cker coordinate system is one of the effective methods for analyzing the singularity of a parallel kinematic mechanism. A TRR-XY five DOF parallel kinematic machine tool that was developed in this research is adopted as an example for investigating the feasibility of this method. A 6×6 matrix calculation is usually required in screw theory for analyzing a six DOF mechanism. For a three DOF mechanism, the analysis using the screw theory becomes more complicated. An equivalent component method is addressed in this research to simplify the singularity analysis for a three DOF mechanism. The effects of differently designed dimensions of machine tools on the singularity are also investigated in this research.",
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Applications of equivalent components concept on the singularity analysis of TRR-XY hybrid parallel kinematic machine tools. / Chen, Shang-Liang; Chang, Tsann Huei; Lin, Yi Chin.

In: International Journal of Advanced Manufacturing Technology, Vol. 30, No. 7-8, 01.10.2006, p. 778-788.

Research output: Contribution to journalArticle

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