Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine(Article)
- aFaculty of Mechanical Engineering, University of Belgrade, Kraljice Marije 16, Belgrade, 11120, Serbia
- bLOLA Institute, Kneza Viseslava 70A, Belgrade, 11030, Serbia
Abstract
The paper describes the configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine (R2PKM). A generalized model which is used for solving inverse and direct kinematic problem is presented. Generalized equations that present the solutions of kinematic problems are derived and they are valid for any configuration of R2PKM. Characteristic configurations of the mechanism are given as an example of the concept realization. For selected configurations, workspaces are defined and possible singular positions of the mechanism are analyzed. Optimization of the mechanism legs length was performed using the condition number. Determination of optimal legs length has been shown for several different configurations of the parallel mechanism. Control and programming system is configured and experimental prototype of R2PKM is realized. Verification of the configured machine, configured control and programming system was performed on the virtual machine and also on the prototype of the machine by drawing several different contours. © 2019, KSME & Springer.
Indexed keywords
| Engineering controlled terms: | Flexible manufacturing systemsKinematicsMechanismsNetwork securityNumber theoryVirtual machine |
|---|---|
| Engineering uncontrolled terms | IKP and DKPReconfigurableReconfigurable control systemsSingularitiesWorkspace |
| Engineering main heading: | Inverse problems |
Funding details
| Funding sponsor | Funding number | Acronym |
|---|---|---|
| Ministarstvo Prosvete, Nauke i Tehnološkog Razvoja | MPNTR | |
| Fundação para a Ciência e a Tecnologia See opportunities by FCT | ARTEMIS/0003/2013 | FCT |
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The authors would like to thank the Ministry of Education, Science and Technological Development of Serbia for providing financial support that made this work possible.
- ISSN: 1738494X
- Source Type: Journal
- Original language: English
- DOI: 10.1007/s12206-019-0636-z
- Document Type: Article
- Publisher: Korean Society of Mechanical Engineers
Zivanovic, S.; Faculty of Mechanical Engineering, University of Belgrade, Kraljice Marije 16, Belgrade, Serbia;
© Copyright 2019 Elsevier B.V., All rights reserved.
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