Modeling and Workspace of a Double-faced Spherical Engraving Machine with the RPR/RRPR Parallel Configuration
The paper presents a spherical engraving machine based on RPR/RRPR Spherical Parallel Mechanism(SPM).The mathematical model of the RPR/RRPR SPM is established.The forward kinematics and inverse kinematics of the SPM are analyzed.The reachable workspaces of the output reference point of the SPM with different angles between the two limb supporting links are drawn based on the kinematic analysis and using Matlab and Solid Works software,respectively.The variation trend of the reachable workspace area is analyzed.In a symmetrical reachable workspace,the area of reachable workspace of the RPR/RRPR SPM increases with the increase of the angle between the two limb supporting links.A spherical engraving machine is constructed based on the RPR/RRPR spherical parallel configuration.The spherical engraving machine can be applied to simultaneously engrave the words and patterns on the inner and outer spherical surfaces with different spherical diameters.The range of engraving can be adjusted flexibly according to the variation rules of the reachable workspace.
Spherical engraving machine RPR/RRPR Spherical parallel mechanism(SPM) Forward and inverse kinematics Workspace
LI Ruiqin Liang Shijie Bai Shaoping Zhang Jianwei
School of Mechanical Engineering,North University of China,Taiyuan 030051,China
国内会议
北京
英文
330-338
2018-08-02（万方平台首次上网日期，不代表论文的发表时间）