Mechanical design of a new parallel kinematic machine
Tutor / director / evaluatorJin, Yan
Document typeMaster thesis (pre-Bologna period)
Rights accessRestricted access - author's decision
The objective of this project is the mechanical design of a new 5 axis Parallel Kinematic Machine (PKM) based on the schematic design exposed in the paper Kinematic Design of a New Parallel Kinematic Machine by Dr Yan Jin, Dr Xianwen Kong, Colm Higgins and Mark Price. The architecture of the new PKM stated there is a 2RPU-1SPR; however, the architecture finally implemented in this project is a 2RPU-1UPU. Apart from the modification of the architecture, this new PKM also includes the addition of a two axes gantry system, allowing the PKM to work in large components such as aircraft’s wings. Indeed, though PKMs application fields is very wide, this machine is thought to be applied for implementing automated drilling and riveting in aircrafts, as its design provides high stiffness and accuracy, and allows it to work with large volumes. The mechanical design selecting the components for the new machine is the main task carried out in this project. The design of the new PKM in the paper Kinematic Design of a New Parallel Kinematic Machine is inspired by an already existing PKM by the Swedish company Exechon AB. Therefore some components of that PKM are kept, redesigning and selecting all the other ones. Furthermore the full gantry system is selected including the calculation of its technical requirements. All the design is done with the support of a CAD program, Solidworks. Finally, to conclude with the project, a motion simulation of the new PKM is carried out in order to demonstrate the performance of the new machine.
SubjectsParallel kinematic machines, Parallel robots, Machine design, Mechanical movements, Màquines de cinemàtica paral·lela, Robots en paral·lel, Maquinaria -- Disseny, Moviments mecànics
ProvenanceAquest document conté originàriament altre material i/o programari no inclòs en aquest lloc web
|Final Report + Drawings.pdf||Report||4,505Mb||Restricted access|