Paper Info
Title
Design and Development of a Portable Machining Robot with Parallel Kinematics
Abstract
In order to achieve the mobile processing of large structural components or the remote maintenance of large-scale equipment, a compact and portable parallel machining robot named DiaRoM is designed and developed. According to the required degrees of freedom (DoFs), a parallel mechanism with the configuration of 4SPU-SPR (S, spherical joint; P, prismatic joint; U, universal joint; R, revolute joint) is proposed by using the type synthesis method based on Grassmann Line Geometry and Line-graphs. The kinematic optimization, driving system parameter optimization (DSPO) and prototype development for the robot are presented. The DiaRoM prototype can converse between horizontal and vertical working modes and realize flexible 5-axis machining.
Year
DOI
Venue
2019
10.1109/URAI.2019.8768593
2019 16th International Conference on Ubiquitous Robots (UR)
Keywords
Field
DocType
DiaRoM prototype,5-axis machining,portable machining robot,parallel kinematics,mobile processing,structural components,compact machining robot,portable parallel machining robot,parallel mechanism,type synthesis method,Grassmann Line Geometry,Line-graphs,kinematic optimization,driving system parameter optimization,DSPO
Line (geometry),Kinematics,Universal joint,Prismatic joint,Computer science,Mechanical engineering,Robot kinematics,Machining,Revolute joint,Robot
Conference
ISSN
ISBN
Citations 
2325-033X
978-1-7281-3233-4
0
PageRank 
References 
Authors
0.34
1
4
Name
Order
Citations
PageRank
Xin-Jun Liu13510.04
Zenghui Xie200.34
Fugui Xie31411.33
Jinsong Wang420831.68