TY - GEN
T1 - Dynamic analysis of a linear Delta robot in hybrid polishing machine based on the principle of virtual work
AU - Xu, Peng
AU - Li, Bing
AU - Chueng, Chi Fai
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/30
Y1 - 2017/8/30
N2 - This paper presents a novel hybrid polishing machine based on the precession polishing process. The machine mainly contains a two degrees of freedom (DOF) serial robot and a three DOF parallel robot with a redundant rotational table on the moving platform. Due to the complex structure and the coupled motion of the parallel robot, dynamics analysis of the parallel robot with three translational DOF (linear Delta robot) is conducted aiming at facilitating the development of hybrid polishing machine. The position, velocity and acceleration analysis of the parallel robot are conducted. By introducing a mass distribution factor, a simplified dynamic model of the parallel robot is developed based on the principle of virtual work. For a pre-defined path of the moving platform, the required force for the driving motors are obtained through numerical simulation. The simulation results are further compared with an ADAMS model, hence justifies its correctness.
AB - This paper presents a novel hybrid polishing machine based on the precession polishing process. The machine mainly contains a two degrees of freedom (DOF) serial robot and a three DOF parallel robot with a redundant rotational table on the moving platform. Due to the complex structure and the coupled motion of the parallel robot, dynamics analysis of the parallel robot with three translational DOF (linear Delta robot) is conducted aiming at facilitating the development of hybrid polishing machine. The position, velocity and acceleration analysis of the parallel robot are conducted. By introducing a mass distribution factor, a simplified dynamic model of the parallel robot is developed based on the principle of virtual work. For a pre-defined path of the moving platform, the required force for the driving motors are obtained through numerical simulation. The simulation results are further compared with an ADAMS model, hence justifies its correctness.
KW - Dynamic analysis
KW - Hybrid polishing machine
KW - Linear Delta robot
KW - Principle of virtual work
KW - Ultra-precision machining
UR - https://www.scopus.com/pages/publications/85031685230
U2 - 10.1109/ICAR.2017.8023636
DO - 10.1109/ICAR.2017.8023636
M3 - 会议稿件
AN - SCOPUS:85031685230
T3 - 2017 18th International Conference on Advanced Robotics, ICAR 2017
SP - 379
EP - 384
BT - 2017 18th International Conference on Advanced Robotics, ICAR 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th International Conference on Advanced Robotics, ICAR 2017
Y2 - 10 July 2017 through 12 July 2017
ER -