Design and workspace analysis of a 3-degree-of-freedom parallel swivel head with large tilting capacity

作者：Guo, Jiangzhen; Wang, Dan^*; Fan, Rui; Chen, Wuyi

来源：Proceedings of the Institution of Mechanical Engineers - Part B: Journal of Engineering Manufacture , 2017, 231(10): 1838-1849.

DOI：10.1177/0954405415607782

• Parallel robot
• hybrid machine tool
• singularity-free workspace
• kinematic redundancy
• tilting capacity

Traditional parallel mechanisms are usually characterized by small tilting capability. To overcome this problem, a 3-degree-of-freedom parallel swivel head with large tilting capacity is proposed in this article. The proposed parallel swivel head, which is structurally developed from a conventional 3-PRS parallel mechanism, can achieve a large tilting capability by means of structural improvements. First, a modified spherical joint with a maximum tilting angle of +/- 120 degrees is devised to diminish the physical restrictions on the orientation workspace. Second, a UPS typed leg is introduced for the sake of singularity elimination. The superiority of the proposed parallel swivel head is theoretically proved by investigations of singularity-free orientation workspace and then is experimentally validated using a prototype fabricated. The theoretical and experimental results illustrate that the proposed parallel swivel head has a large tilting capacity and thus can be used as swivel head for a hybrid machine tool which is designed to be capable of realizing both horizontal and vertical machining.

• 出版日期2017-8
• 单位北京航空航天大学