Kinematics analysis of a hybrid manipulator for computer controlled ultra-precision freeform polishing

Peng Xu, Chi Fai Cheung, Bing Li, Lai Ting Ho, Ju Fan Zhang

Research output: Journal article publicationJournal articleAcademic researchpeer-review

24 Citations (Scopus)

Abstract

This paper presents a novel hybrid manipulator for computer controlled ultra-precision (CCUP) freeform polishing. The hybrid manipulator is composed of a three degree-of-freedom (DOF) parallel module, a two DOF serial module and a turntable providing a redundant DOF. The parallel module gives the workpiece three translations without rotations. The serial module holds the polishing tool and gives it no translations on the polishing contact area due to its particular mechanical design. A detailed kinematics model is established for analyzing the kinematics of the parallel module and the serial module, respectively. For the parallel module, the inverse kinematics, the forward kinematics, the Jacobian matrix, the workspace and the dexterity distribution are analyzed systematically. Workspaces are also investigated for varying structural parameters. For the serial module, the inverse kinematics, the forward kinematics, the workspace and the precession motion analysis are carried out. An example of saddle surface finishing with this manipulator is given and the movement of actuators with respect to this shape is analyzed theoretically. These analysis results illustrate that the proposed hybrid manipulator is a very suitable machine structure for CCUP freeform polishing.
Original languageEnglish
Pages (from-to)44-56
Number of pages13
JournalRobotics and Computer-Integrated Manufacturing
Volume44
DOIs
Publication statusPublished - 1 Apr 2017

Keywords

  • Freeform surface
  • Hybrid manipulator
  • Kinematics
  • Precession motion
  • Ultra-precision polishing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications
  • Industrial and Manufacturing Engineering

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