基于有限和瞬时旋量理论的Exechon并联机器人运动学分析-豆柴文库

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基于有限和瞬时旋量理论的Exechon并联机器人运动学分析
Introduction
Exechon,agloballyrenownedmanufacturingtechnologycompanyhasdesignedanddevelopedauniqueparallelrobotsystem,ExechonParallelKinematicMachine(PKM).Thistechnologyprovidessubstantialadvantagesovertraditionalmachiningtechnologiesintheproductionofaerospacestructureswithcomplexcurvatures,accurateshapes,andhighsurfacequality.TheExechonPKMisanidealtoolforlarge-scalemanufacturingduetoitssixdegreesoffreedom,architecturalsymmetry,andinherentgeometricaccuracy.ThispaperdiscussesthekinematicanalysisofExechon'sPKMsystembyemployingfiniteandinstantaneousscrewtheory.
KinematicAnalysis
ThekinematicanalysisofExechon'sPKMsystemiscenteredontheend-effector'smotion,whichiscomputedintermsoftheinputsignalsprovidedtothemotorsthatdrivetheparallel-kinematicstructuralelements.Theinputsignalsareknownasjointangles,whichrotatetheplatformconnectedtotheend-effector.ThecompletekinematicanalysisoftheExechonPKMsysteminvolvescomputingtheend-effector'smotion,aswellasthejointanglesrequiredtoachievethedesiredend-effectormotion.
TheExechonPKMsystem'smathematicalmodelusesthefinitescrewtheorytocomputethemotionoftheend-effectorandinstantaneousscrewtheorytocomputethejointangles.Finitescrewtheoryrepresentsanelement'smotionviaalinearcombinationofsixindependentscrewmotions.Thesemotionsincludetranslationalongitsthree-dimensionaxesandrotationaboutitsthreeaxes.Incontrast,instantaneousscrewtheorycalculatesthelinearandangularvelocitiesofanelement'smotion.
TheExechonPKMsystememploysaStewartPlatform-baseddesign.Ithassixlinearactuatorsmountedbetweenthetopandbottomplatforms,connectedviaball-and-socketjoints.Theend-effectorcomprisesamillingspindlemountedonacoordinatesystemthatrotatesandtranslatesaroundandalongtheX,Y,andZ-axes,respectively.Theend-effector'smotionisessentialsinceitaffectsthemachiningprocess'saccuracyandprecision.
TheFK(forwardkinematics)probleminvolvescalculatingthetransformationfromjointspacetoend-effectorspace.However,theIK(inversekinematics)problemrequiresfindingtheuni