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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Novel Method for Designing High Precision Parallel Kinematic Machines Based on the Smart Structure
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Novel Method for Designing High Precision Parallel Kinematic Machines Based on the Smart Structure

机译：基于智能结构的高精度并联运动机设计新方法

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摘要

Improvements in the accuracy of the parallel kinematic machine (PKM) have proved challenging and are crucial for its practical application and industrialization. The present study proposes a novel idea that introduces smart structures into the PKM's kinematic chains to improve its accuracy rather than focusing on enhancing the performances of the PKM's hardware. A 2-degrees of freedom planar PKM is taken as the application object. Its geometric parameters are first optimized based on the dexterity index. The design scheme of the smart structure chains is then discussed in detail. The piezoceramic actuator is adopted as the actuation element and the compliant mechanism is used to construct the basic structure of the chain. Three smart structure chains are developed based on the design scheme and experimental tests suggest the presence of adequate motion stroke, high positioning resolution, and excellent dynamic performance, which provide a solid foundation for its application to improve the PKM's accuracy. Finally, a novel precision PKM based on the smart structure chains is developed, and experimental tests validate its high positioning and contour accuracies. Except for the PKM, the proposed method is also applicable in improving the accuracy of the other types of machines through the insertion of smart structures into their crucial components.
机译：事实证明，并联运动机（PKM）的精度提高具有挑战性，对于其实际应用和工业化至关重要。本研究提出了一种新颖的想法，该想法将智能结构引入到PKM的运动链中以提高其准确性，而不是着重于增强PKM硬件的性能。以2自由度平面PKM为应用对象。首先根据灵活性指数优化其几何参数。然后详细讨论智能结构链的设计方案。压电陶瓷致动器被用作致动元件，并且柔性机构被用于构造链的基本结构。根据设计方案开发了三个智能结构链，实验测试表明存在足够的运动行程，较高的定位分辨率和出色的动态性能，这为提高PKM的精度为其应用提供了坚实的基础。最后，开发了一种基于智能结构链的新型精密PKM，并通过实验测试验证了其较高的定位精度和轮廓精度。除了PKM之外，通过将智能结构插入其关键部件中，所提出的方法还适用于提高其他类型机器的精度。

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