TY - GEN
T1 - On performance enhancement of parallel kinematic machine
AU - Zhang, Dan
AU - Wang, Lihui
PY - 2005
Y1 - 2005
N2 - This paper proposes a spatial three degrees of freedom parallel kinematic machine enhanced by a passive leg and a web-based remote control system. First, the geometric model of the three degrees of freedom parallel kinematic machine is addressed; in the mechanism, a fourth kinematic link - a passive link connecting the base center to the moving platform center - is introduced. This last link is used to constrain the motion of the tool (located in the moving platform) to only three degrees of freedom, as well as to enhance the global stiffness of the structure and distribute the torque from machining. With the kinematic model, a web-based remote control approach is then applied. The concept of the web-based remote manipulation approach is introduced and the principles behind the method are explored in detail. Finally, an example of remote manipulation is demonstrated to the proposed 3-DOF structure using web-based remote control concept before conclusions.
AB - This paper proposes a spatial three degrees of freedom parallel kinematic machine enhanced by a passive leg and a web-based remote control system. First, the geometric model of the three degrees of freedom parallel kinematic machine is addressed; in the mechanism, a fourth kinematic link - a passive link connecting the base center to the moving platform center - is introduced. This last link is used to constrain the motion of the tool (located in the moving platform) to only three degrees of freedom, as well as to enhance the global stiffness of the structure and distribute the torque from machining. With the kinematic model, a web-based remote control approach is then applied. The concept of the web-based remote manipulation approach is introduced and the principles behind the method are explored in detail. Finally, an example of remote manipulation is demonstrated to the proposed 3-DOF structure using web-based remote control concept before conclusions.
UR - http://www.scopus.com/inward/record.url?scp=33144489721&partnerID=8YFLogxK
U2 - 10.1115/detc2005-85034
DO - 10.1115/detc2005-85034
M3 - Conference article published in proceeding or book
AN - SCOPUS:33144489721
SN - 079184739X
SN - 9780791847398
T3 - Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005
SP - 123
EP - 129
BT - Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences - DETC2005
PB - American Society of Mechanical Engineers
T2 - DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Y2 - 24 September 2005 through 28 September 2005
ER -