Design of a 4-DOF hybrid PKM module for large structural component assembly
Huang, Tian, Wang, P. F., Zhao, X. M. and Chetwynd, D. G. (Derek G.), 1948-. (2010) Design of a 4-DOF hybrid PKM module for large structural component assembly. CIRP Annals - Manufacturing Technology, Vol.59 (No.1). pp. 159-162. ISSN 0007-8506
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WRAP_HUang_030212-design_of_a_4-dof_hybrid_pkm_module_for_large_structural_component_assembly_cirp_2010.pdf - Accepted Version - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
Official URL: http://dx.doi.org/10.1016/j.cirp.2010.03.098
This paper presents a novel 4-DOF hybrid parallel kinematic machine (PKM), named Bicept, comprising a 2-DOF parallel mechanism plus a 2-DOF rotating head. The PKM is designed as a rigid yet compact module that can act as a robot cell moving along a long track for aircraft structural component assembly, a wing box for example. Dimensional synthesis of the 2-DOF parallel mechanism is carried out to achieve a relatively good kinematic performance within a prescribed task workspace that has a large width/height ratio. Then, using commercial CAE software, rigid body dynamics and stiffness analyses are carried out for motor sizing and performance evaluation of a full-size virtual prototype.
|Item Type:||Journal Article|
|Subjects:||T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TS Manufactures
|Divisions:||Faculty of Science > Engineering|
|Library of Congress Subject Headings (LCSH):||Parallel kinematic machines -- Design and construction, Aircraft industry -- Automation, Assembly-line methods|
|Journal or Publication Title:||CIRP Annals - Manufacturing Technology|
|Number of Pages:||4|
|Page Range:||pp. 159-162|
|Access rights to Published version:||Restricted or Subscription Access|
|Funder:||Guo jia zi ran ke xue ji jin wei yuan hui (China) [National Natural Science Foundation of China] (NSFC), Ministry of Science and Technology (South Korea)|
|Grant number:||50535010 (NSFC), 50775158 (NSFC), 2006BAF01B00 (MOST)|
|Title of Event:||60th General Assembly of CIRP|
|Location of Event:||Pisa, ITALY|
|Date(s) of Event:||AUG 22-28, 2010|
 Rooks, R., 2001, Automatic Wing Box Assembly Developments, Ind.
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- Design of a 4-DOF hybrid PKM module for large structural component assembly. (deposited 06 Feb 2012 17:26) [Currently Displayed]
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