An integrated approach for remote manipulation of a high-performance reconfigurable parallel kinematic machine

Flexible and effective manipulation is important and meaningful for the further development and applications of parallel manipulators in the industrial fields, especially for high-performance manufacturing. Web-based manufacturing has emerged as an alternative manufacturing technology in a distributed environment. In this paper, an integrated approach is proposed for remote manipulation of the reconfigurable parallel kinematic machine (RPKM) based on sensor-driven Wise-ShopFloor framework. The concept of Wise-ShopFloor integrates the modules of detailed architecture design, module interactions, sensor data utilization and model predictive control. In order to demonstrate the efficiency of this novel methodology, an example of a five degrees-of-freedom (DOF) RPKM is developed for surface finishing. The reconfigurability, the necessary kinematic analysis, and the performance mapping of the 5-DOF RPKM are conducted so as to implement the proposed approach.

[1]  Manuel M. Crisóstomo,et al.  Intelligent Control and Integration Software for Flexible Manufacturing Cells , 2007, IEEE Transactions on Industrial Informatics.

[2]  Bashar El-Khasawneh,et al.  The Tetrahedral Tripod , 1999 .

[3]  Beth Adelson,et al.  Developing Strategic Alliances: A Framework for Collaborative Negotiation in Design , 1999 .

[4]  Ercan Öztemel,et al.  A general framework of a Reference Model for Intelligent Integrated Manufacturing Systems (REMIMS) , 2009, Eng. Appl. Artif. Intell..

[5]  Weiming Shen,et al.  A Java 3d-enabled cyber workspace , 2002, CACM.

[6]  Anna Kochan.  Parallel robots perfect propellors , 1996 .

[7]  Eve D. Rosenzweig.  A contingent view of e-collaboration and performance in manufacturing , 2009 .

[8]  Paul K. Wright,et al.  CyberCut: A World Wide Web based design-to-fabrication tool , 1996 .

[9]  C. Gosselin,et al.  Kinetostatic modeling of parallel mechanisms with a passive constraining leg and revolute actuators , 2002 .

[10]  Etienne Burdet,et al.  Adaptive control of the Hexaglide, a 6 dof parallel manipulator , 1997, Proceedings of International Conference on Robotics and Automation.

[11]  Y.-L. Pan,et al.  Rapid Manufacturing of Intelligent Mold With Embedded Microsensors , 2007, IEEE/ASME Transactions on Mechatronics.

[12]  J. Chen,et al.  Instantaneous stiffness analysis and simulation for hexapod machines , 2008, Simul. Model. Pract. Theory.

[13]  Valeriy Vyatkin,et al.  Ontology-based reconfiguration agent for intelligent mechatronic systems in flexible manufacturing , 2010 .

[14]  Steven A. Velinsky,et al.  Determination of the kinematically redundant active prismatic joint variable ranges of a planar parallel mechanism for singularity-free trajectories , 2009 .

[15]  B. Heimann,et al.  Advanced Model-Based Control of a 6-DOF Hexapod Robot: A Case Study , 2010, IEEE/ASME Transactions on Mechatronics.

[16]  John C. Ziegert,et al.  Fundamental Comparison of the Use of Serial and Parallel Kinematics for Machines Tools , 1999 .

[17]  K. S. Smith,et al.  Parallel kinematic machines : theoretical aspects and industrial requirements , 1999 .

[18]  Hélène Chanal,et al.  A study of the impact of machine tool structure on machining processes , 2006 .

[19]  Jia-Yush Yen,et al.  Comparison of sensor fusion methods for an SMA-based hexapod biomimetic robot , 2010, Robotics Auton. Syst..

[20]  Dan Zhang,et al.  Parallel Robotic Machine Tools , 2009 .

[21]  Jian Zhang,et al.  Using haptic feedback as an aid in the design of passive mechanisms , 2007, Comput. Aided Des..

[22]  Jay Lee.  E-manufacturing—fundamental, tools, and transformation , 2003 .

[23]  Bruno Siciliano,et al.  The Tricept robot: dynamics and impedance control , 2003 .

[24]  Haitao Liu,et al.  Optimal design of the TriVariant robot to achieve a nearly axial symmetry of kinematic performance , 2007 .

[25]  Xiaolin Hu,et al.  Design, analysis, and stiffness optimization of a three degree of freedom parallel manipulator , 2009, Robotica.

[26]  Karl-Heinz Wurst,et al.  Systematic Design of Hexapods and other Parallel Link Systems , 1997 .