Modular design of typical rigid links in parallel kinematic machines: Classification and topology optimization

Abstract

Due to the demand of reconfigurable system in parallel kinematic machines (PKMs), modular design technology is significant and necessary. However, in earlier research, the core joint modules have been concerned about rather than the customized link modules. The modular design to the typical customized links from the point of seeking optimal structures with best mechanical performances is analyzed and processed in two steps: classification and optimization. Firstly, a brief introduction to the current research status and the aims of this paper are outlined. And then, how the typical customized links classified is proposed. Next, the technology method and the iterative formula derivation process of topology optimization are described in detail. Finally, calculation models for each group of classified ones are set up and their optimal structures are achieved through topology optimization technique. The results provide useful references for reconfigurable and modular design in engineering cases.

Keywords

parallel kinematic machines (PKMs) / modular design / classification / topology optimization and improved Guide-Weight method

References

[1] Wang J S, Huang T. Parallel machine tool—A forthcoming opportunity and challenge to the machine tool industry. China Mechanical Engineering, 1999, 10: 1103-1107

[2] Weck M, Staimer D. Parallel kinematic machine tools-current state and future potentials. Annals of the CIRP-Manufacturing Technology, 2002, 51(2): 671-683

[3] Yang G, Chen I M, Lim W K, Yeo S H. Kinematic design of modular reconfigurable in-parallel robots. Autonomous Robots, 2001, 10(1): 83-89

[4] Gopalakrishnan V, Fedewa D, Mehrabi M G, Kota S, Orlandea N. Parallel structures and their applications in reconfigurable machining systems. Journal of Manufacturing Science and Engineering, 2002, 124(2): 483-485

[5] Li M, Huang T, Zhang D, Zhao X, Hu S J, Chetwynd D G. Conceptual design and dimensional synthesis of a reconfigurable hybrid robot. ASME Journal of Manufacturing Science and Engineering, 2005, 127(3): 647-653

[6] Wang H, Eberhard P, Lin Z. Modeling and simulation of closed loop multibody systems with bodies-joints composite modules. Multibody System Dynamics, 2010, 24(4): 389-411

[7] Li Q C, Huang Z, Hervé J M. Displacement manifold method for type synthesis of lower-mobility parallel mechanisms. Science in China (Series E): Technological Sciences, 2004, 47(6): 641-650

[8] Fassi I, Wiens G J. Multiaxis machining-PKMs and traditional machining centers. Journal of Manufacturing Processes, 2000, 2(1): 1-14

[9] Bendsøe M P, Kikuchi N. Generating optimal topologies in structural design using homogenization method. Computer Methods in Applied Mechanics and Engineering, 1988, 71(2): 197-224

[10] Bendsoe M P, Sigmund O. Topology Optimization: Theory, Methods and Applications. Berlin: Springer, 2003

[11] Hassani B, Hinton E. A review of homogenization and topology optimization I: homogenization theory for media and periodic structure. Computers & Structures, 1998, 69(6): 707-717

[12] Bendsøe M P, Sigmund O. Material interpolation schemes in topology optimization. Archive of Applied Mechanics, 1999, 69(9,10): 635-654

[13] Chen S, Ye S H. A Guide-Weight criterion method for the optimal design of antenna structures. Engineering Optimization, 1986, 10(3): 199-216

[14] Chen S.Analysis, Synthesis and Optimization of Engineering Structural Systems. China Science Culture Publishing House, Hongkong, 2008 (in Chinese)

[15] Liu X J, Li Z D, Chen X. A new solution for topology optimization problems with multiple load cases—The Guide-Weight method. Science in China (Series E): Technological Sciences, 2011, 54(6): 1505-1514

[16] Liu X J, Li Z D, Wang L P, Wang J S. Solving topology optimization problems by the Guide-Weight method. Frontiers of Mechanical Engineering, 2011, 6(1): 136-150

[17] Eschenauer H A, Olhoff N. Topology optimization of continuum structures: A review. Applied Mechanics Reviews, 2001, 54(4): 331-390

Acknowledgements

This work was supported by the National Natural Science Foundation of China (Grant No. 51075222), the Fund of State Key Laboratory of Tribology (Nos. SKLT10C02 and 51135008).

RIGHTS & PERMISSIONS

2014 Higher Education Press and Springer-Verlag Berlin Heidelberg