Title

Kinematic Modeling of Parallel Kinematic Machine Exechon

Document Type

Article

Publication Date

2011

Publication Source

Robotics and Computer- Integrated Manufacturing

Volume

27

Issue

1

Inclusive pages

186-193

DOI

http://dx.doi.org/10.1016/j.rcim.2010.07.006

Publisher

Pergamon Press

Place of Publication

United Kingdom

ISBN/ISSN

0736-5845

Peer Reviewed

yes

Abstract

The studies on PKMs have attracted a great attention to robotics community. By deploying a parallel kinematic structure, a parallel kinematic machine (PKM) is expected to possess the advantages of heavier working load, higher speed, and higher precision. Hundreds of new PKMs have been proposed. However, due to the considerable gaps between the desired and actual performances, the majorities of the developed PKMs were the prototypes in research laboratories and only a few of them have been practically applied for various applications; among the successful PKMs, the Exechon machine tool is recently developed. The Exechon adopts unique over-constrained structure, and it has been improved based on the success of the Tricept parallel kinematic machine. Note that the quantifiable theoretical studies have yet been conducted to validate its superior performances, and its kinematic model is not publically available. In this paper, the kinematic characteristics of this new machine tool is investigated, the concise models of forward and inverse kinematics have been developed. These models can be used to evaluate the performances of an existing Exechon machine tool and to optimize new structures of an Exechon machine to accomplish some specific tasks.

Keywords

parallel kinematic machine (PKM), machine tool, robotics, exechon

Disciplines

Engineering | Mechanical Engineering | Robotics

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