This paper addresses the design issue of a three-axis tool head with three-PRS parallel kinematics (P, R, and S standing for prismatic, revolute, and spherical joint, respectively) by considering their orientation capability and motion/force transmission. The content presented here is actually an improvement on the dimensional optimization of articulated tool heads with parallel kinematics, with emphasis on the three-PRS design to solve the problem of orientational capability. An index that can evaluate the effectiveness of the motion/force transmission is introduced. The orientation capability with which the mechanism has high motion/force transmission capability is then defined. The procedure searching the link lengths with which the mechanism has a high orientation capability and good effectiveness of motion/force transmission is finally presented.
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April 2010
Research Papers
Design of a Three-Axis Articulated Tool Head With Parallel Kinematics Achieving Desired Motion/Force Transmission Characteristics
Xin-Jun Liu,
Xin-Jun Liu
Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering,
e-mail: xinjunliu@mail.tsinghua.edu.cn
Tsinghua University
, Beijing 100084, China
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Li-Ping Wang,
Li-Ping Wang
Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering,
Tsinghua University
, Beijing 100084, China
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Fugui Xie,
Fugui Xie
Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering,
Tsinghua University
, Beijing 100084, China
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Ilian A. Bonev
Ilian A. Bonev
Department of Automated Manufacturing Engineering,
École de technologie supérieure
, 1100 Notre-Dame Street West, Montreal, QC H3C 1K3, Canada
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Xin-Jun Liu
Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering,
Tsinghua University
, Beijing 100084, Chinae-mail: xinjunliu@mail.tsinghua.edu.cn
Li-Ping Wang
Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering,
Tsinghua University
, Beijing 100084, China
Fugui Xie
Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering,
Tsinghua University
, Beijing 100084, China
Ilian A. Bonev
Department of Automated Manufacturing Engineering,
École de technologie supérieure
, 1100 Notre-Dame Street West, Montreal, QC H3C 1K3, CanadaJ. Manuf. Sci. Eng. Apr 2010, 132(2): 021009 (8 pages)
Published Online: March 31, 2010
Article history
Received:
October 21, 2008
Revised:
January 29, 2010
Online:
March 31, 2010
Published:
March 31, 2010
Citation
Liu, X., Wang, L., Xie, F., and Bonev, I. A. (March 31, 2010). "Design of a Three-Axis Articulated Tool Head With Parallel Kinematics Achieving Desired Motion/Force Transmission Characteristics." ASME. J. Manuf. Sci. Eng. April 2010; 132(2): 021009. https://doi.org/10.1115/1.4001244
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