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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Abstract

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
Publisher:	Elsevier BV
ISSN:	0007-8506
Date:	2010
Volume:	Vol.59
Number:	No.1
Number of Pages:	4
Page Range:	pp. 159-162
Identification Number:	10.1016/j.cirp.2010.03.098
Status:	Peer Reviewed
Publication Status:	Published
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
References:	[1] Rooks, R., 2001, Automatic Wing Box Assembly Developments, Ind. Robot, 28(4): 297-301. [2] Webb, P., Eastwood, S., Jayaweera, N. and Chen, Y., 2005, Automated Aerostructure, Assembly, Ind. Robot, 32(5): 383-387. [3] Murman, E. M., Walton, M., Rebentisch, E., 2000, Challenges in the Better, Faster, Cheaper Era of Aeronautical Engineering and Manufacturing, Aeronaut. J., 481–488. [4] Perron, C., 2009, Aircraft Assembly, available at: http://www. nrc-cnrc. gc.ca/eng/ facilities/iar/amtc/aircraft-assembly.html. [5] Weber, A., 2009, High-Flying Robotics, available at: http://www. aint. com/news- high-flying- robotics.html [6] Neumann, K. E., 2002, Tricept Application, In Proceedings-3rd Chemnitz Parallel Kinematics Seminar, Zwickau, Germany, 547-551. [7] Weck, M., Staimer, D., 2002, Parallel Kinematic Machine Tools- Current State and Future Potentials, CIRP Ann., 51(2): 671-683. [8] Dahlstrom, P., 1999, Assembly Robot for Wing, WO/1999/047415 [9] Huang, T., Li, M., Zhang, D. W., Zhao, X. M., 2003, 4-DOF Hybrid Robot, CN Patent 1439492. [10] Li, M. Huang, T., et al., 2005, Conceptual Design and Dimensional Synthesis of a Reconfigurable Hybrid Robot, ASME J. Manuf. Sci. and Eng., 127(6): 647-654. [11] Altintas, Y., Brecher, B., Weck, M., Witt, S., 2005, Virtual Machine Tool, CIRP Ann., 54(2): 651-674. [12] Gosselin, C. M., Angeles, J., 1991, A Global Performance Index for the Kinematic Optimization of Robotic Manipulators,” ASME J. Mech. Des., 113(3): 220-226.
URI:	http://wrap.warwick.ac.uk/id/eprint/41478

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