Title

Optimal Design of Reconfigurable Parallel Machining Systems

Document Type

Article

Publication Date

2009

Publication Source

Robotics and Computer Integrated Manufacturing

Volume

25

Issue

6

Inclusive pages

951-961

DOI

http://dx.doi.org/10.1016/j.rcim.2009.04.004

Publisher

Pergamon Press

Place of Publication

United Kingdom

ISBN/ISSN

07365845

Peer Reviewed

yes

Abstract

A reconfigurable machining system is usually a modularized system, and its configuration design concerns the selections of modules and the determination of geometric dimensions in some specific modules. All of its design perspectives from kinematics, dynamics, and control have to be taken into considerations simultaneously, and a multidisciplinary design optimization (MDO) tool is required to support the configuration design process. This paper presents a new MDO tool for reconfigurable machining systems, and it includes the following works: (i) the literatures on the computer-aided design of reconfigurable parallel machining systems have been reviewed with a conclusion that the multidisciplinary design optimization is essential, but no comprehensive design tool is available to reconfigurable parallel machining systems; (ii) a class of reconfigurable systems called reconfigurable tripod-based machining system has been introduced, its reconfiguration problem is identified, and the corresponding design criteria have been discussed; (iii) design analysis in all of the disciplines including kinematics, dynamics, and control have been taken into considerations, and design models have been developed to evaluate various design candidates; in particular, the innovative solutions to direct kinematics, stiffness analysis for the design configurations of tripod-based machines with a passive leg, and concise dynamic modelling have been provided; and (iv) A design optimization approach is proposed to determine the best solution from all possible configurations. Based on the works presented in this paper, a computer-aided design and control tool have been implemented to support the system reconfiguration design and control processes. Some issues relevant to the practical implementation have also been discussed.

Keywords

Multidisciplinary design optimization; Reconfigurable machining system; Parallel kinematics; Tripod; Configuration design; Dynamic modelling

Disciplines

Engineering

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