Modular design of typical rigid links in parallel kinematic machines: Classification and topology optimization

doi:10.1007/s11465-012-0315-6

Front Mech Eng

2012, Vol. 7

Issue (2) : 199-209 https://doi.org/10.1007/s11465-012-0315-6

RESEARCH ARTICLE

Modular design of typical rigid links in parallel kinematic machines: Classification and topology optimization

Xinjun LIU(

), Xiang CHEN, Zhidong LI

The State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China

Download: PDF(603 KB) HTML
Export: BibTeX | EndNote | Reference Manager | ProCite | RefWorks

Abstract

Due to the demand of reconfigurable system in parallel kinematic machines (PKMs), modular design technology is significant and necessary. However, in earlier research, the core joint modules have been concerned about rather than the customized link modules. The modular design to the typical customized links from the point of seeking optimal structures with best mechanical performances is analyzed and processed in two steps: classification and optimization. Firstly, a brief introduction to the current research status and the aims of this paper are outlined. And then, how the typical customized links classified is proposed. Next, the technology method and the iterative formula derivation process of topology optimization are described in detail. Finally, calculation models for each group of classified ones are set up and their optimal structures are achieved through topology optimization technique. The results provide useful references for reconfigurable and modular design in engineering cases.

Keywords parallel kinematic machines (PKMs) modular design classification topology optimization and improved Guide-Weight method

Corresponding Author(s): LIU Xinjun,Email:xinjunliu@mail.tsinghua.edu.cn

Issue Date: 05 June 2012

Cite this article:

Xiang CHEN,Zhidong LI,Xinjun LIU. Modular design of typical rigid links in parallel kinematic machines: Classification and topology optimization[J]. Front Mech Eng, 2012, 7(2): 199-209.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-012-0315-6
https://academic.hep.com.cn/fme/EN/Y2012/V7/I2/199

Fig.1 Current status of reconfigurable and modular research in PKMs

Tab.1 Two types of representative PKMs

Fig.2 Three force statuses of typical rigid links in PKMs

Fig.3 Calculation procedure of topology optimization

Fig.4 Factors that determine the optimal structures

Fig.5 Calculation model in topology optimization for the first group of rigid links

Tab.2 Some necessary parameters for calculation of topology optimization

Tab.3 Optimal structures of the first group while and varying

Tab.4 Optimal structures of the first group while varying

Fig.6 Definition of structural terms

Fig.7 Topology result of case 1 when =1, =4

Fig.8 Iteration process of case 1 in Fig. 7

Fig.9 Topology result of case 2 when

Fig.10 Iteration process of case 2 in Fig. 9

Fig.11 Calculation model in topology optimization for the second group of rigid links

Tab.5 Optimal structures of the second group

Fig.12 Calculation model in topology optimization for the third group of rigid links

Tab.6 Optimal structures of the third group

1	Wang J S, Huang T. Parallel machine tool—A forthcoming opportunity and challenge to the machine tool industry. China Mechanical Engineering , 1999, 10: 1103-1107
2	Weck M, Staimer D. Parallel kinematic machine tools-current state and future potentials. Annals of the CIRP-Manufacturing Technology , 2002, 51(2): 671-683 doi: 10.1016/S0007-8506(07)61706-5
3	Yang G, Chen I M, Lim W K, Yeo S H. Kinematic design of modular reconfigurable in-parallel robots. Autonomous Robots , 2001, 10(1): 83-89 doi: 10.1023/A:1026500704076
4	Gopalakrishnan V, Fedewa D, Mehrabi M G, Kota S, Orlandea N. Parallel structures and their applications in reconfigurable machining systems. Journal of Manufacturing Science and Engineering , 2002, 124(2): 483-485 doi: 10.1115/1.1459468
5	Li M, Huang T, Zhang D, Zhao X, Hu S J, Chetwynd D G. Conceptual design and dimensional synthesis of a reconfigurable hybrid robot. ASME Journal of Manufacturing Science and Engineering , 2005, 127(3): 647-653 doi: 10.1115/1.1947208
6	Wang H, Eberhard P, Lin Z. Modeling and simulation of closed loop multibody systems with bodies-joints composite modules. Multibody System Dynamics , 2010, 24(4): 389-411 doi: 10.1007/s11044-010-9208-9
7	Li Q C, Huang Z, Hervé J M. Displacement manifold method for type synthesis of lower-mobility parallel mechanisms. Science in China (Series E): Technological Sciences , 2004, 47(6): 641-650 doi: 10.1360/03ye0352
8	Fassi I, Wiens G J. Multiaxis machining-PKMs and traditional machining centers. Journal of Manufacturing Processes , 2000, 2(1): 1-14 doi: 10.1016/S1526-6125(00)70008-9
9	Bends?e M P, Kikuchi N. Generating optimal topologies in structural design using homogenization method. Computer Methods in Applied Mechanics and Engineering , 1988, 71(2): 197-224 doi: 10.1016/0045-7825(88)90086-2
10	Bendsoe M P, Sigmund O. Topology Optimization: Theory, Methods and Applications. Berlin: Springer, 2003
11	Hassani B, Hinton E. A review of homogenization and topology optimization I: homogenization theory for media and periodic structure. Computers & Structures , 1998, 69(6): 707-717 doi: 10.1016/S0045-7949(98)00131-X
12	Bends?e M P, Sigmund O. Material interpolation schemes in topology optimization. Archive of Applied Mechanics , 1999, 69(9,10): 635-654 doi: 10.1007/s004190050248
13	Chen S, Ye S H. A Guide-Weight criterion method for the optimal design of antenna structures. Engineering Optimization , 1986, 10(3): 199-216 doi: 10.1080/03052158608902537
14	Chen S.Analysis, Synthesis and Optimization of Engineering Structural Systems. China Science Culture Publishing House, Hongkong , 2008 (in Chinese)
15	Liu X J, Li Z D, Chen X. A new solution for topology optimization problems with multiple load cases—The Guide-Weight method. Science in China (Series E): Technological Sciences , 2011, 54(6): 1505-1514 doi: 10.1007/s11431-011-4334-z
16	Liu X J, Li Z D, Wang L P, Wang J S. Solving topology optimization problems by the Guide-Weight method. Frontiers of Mechanical Engineering , 2011, 6(1): 136-150
17	Eschenauer H A, Olhoff N. Topology optimization of continuum structures: A review. Applied Mechanics Reviews , 2001, 54(4): 331-390 doi: 10.1115/1.1388075

[1]	Sanjeev GOYAL, Sandeep GROVER. Advanced manufacturing technology effectiveness: A review of literature and some issues[J]. Front Mech Eng, 2012, 7(3): 256-267.
[2]	Fang YE, Shouyin WANG, Wei CHENG, Qixiao XIA, Jianhui ZHANG, . Present situation and classification of piezoelectric pump[J]. Front. Mech. Eng., 2009, 4(4): 420-429.
[3]	WANG Junbiao, DENG Hu, JIANG Jianjun, YANG Binghong, WANG Bailing. EAI-oriented information classification code system in manufacturing enterprises[J]. Front. Mech. Eng., 2008, 3(1): 81-85.
[4]	LI Wei-hua, SHI Tie-lin, YANG Shu-zi. An approach for mechanical fault classification based on generalized discriminant analysis[J]. Front. Mech. Eng., 2006, 1(3): 292-298.

Viewed

Full text

Abstract

Cited

Shared

Discussed