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Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine

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Abstract

The paper describes the configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine (R2PKM). A generalized model which is used for solving inverse and direct kinematic problem is presented. Generalized equations that present the solutions of kinematic problems are derived and they are valid for any configuration of R2PKM. Characteristic configurations of the mechanism are given as an example of the concept realization. For selected configurations, workspaces are defined and possible singular positions of the mechanism are analyzed. Optimization of the mechanism legs length was performed using the condition number. Determination of optimal legs length has been shown for several different configurations of the parallel mechanism. Control and programming system is configured and experimental prototype of R2PKM is realized. Verification of the configured machine, configured control and programming system was performed on the virtual machine and also on the prototype of the machine by drawing several different contours.

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Acknowledgements

The authors would like to thank the Ministry of Education, Science and Technological Development of Serbia for providing financial support that made this work possible.

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Authors and Affiliations

  1. Faculty of Mechanical Engineering, University of Belgrade, Kraljice Marije 16, 11120, Belgrade, Serbia

    Goran Vasilic, Sasa Zivanovic & Branko Kokotovic

  2. LOLA Institute, Kneza Viseslava 70A, 11030, Belgrade, Serbia

    Zoran Dimic

Authors
  1. Goran Vasilic
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  2. Sasa Zivanovic
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  3. Branko Kokotovic
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  4. Zoran Dimic
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Corresponding author

Correspondence to Sasa Zivanovic.

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Recommended by Associate Editor Wonkyun Lee

Goran Vasilic is a Ph.D. student in Faculty of Mechanical Engineering, University of Belgrade, Serbia. He works as a teacher in College of Applied Engineering “Tehnikum Taurunum - Belgrade”. His current research interests are parallel kinematic and hybrid kinematic machine tools, CAD/CAM, STEP-NC, GUI programming.

Sasa Zivanovic is an Associate Professor at Faculty of Mechanical Engineering, University of Belgrade, Serbia. His current research interests are machine tools, parallel kinematic machine tools, reconfigurable machine tools, STEP-NC, robots for machining, CAD/CAM, wire EDM.

Branko Kokotovic is an Assistant Professor at Faculty of Mechanical Engineering, University of Belgrade, Serbia. His current research interests are CNC machine tools, CAD/CAM/CAE, testing of machine tools, virtual machining, experimental identification of machine tools and processes.

Zoran Dimic has graduated from Faculty of Electrical Engineering, University of Belgrade and received Ph.D. degree in mechanical engineering from the University of Belgrade. He has over 18 years of experience in research and development of embedded software systems for machine tools and robots, NC and robot language compilers.

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Vasilic, G., Zivanovic, S., Kokotovic, B. et al. Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine. J Mech Sci Technol 33, 3407–3421 (2019). https://doi.org/10.1007/s12206-019-0636-z

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  • DOI: https://doi.org/10.1007/s12206-019-0636-z

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