2023年全國碩士研究生考試考研英語一試題真題（含答案詳解+作文范文）_第1頁
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1、1外文文獻(xiàn)HindawiPublishingCpationJournalofRoboticsVolume2011ArticleID5830729pagesdoi:10.11552011583072ResearchArticleDevelopmentControlofa5AxisReconfigurableMachineToolZ.M.BiDepartmentofEngineeringIndianaUniversity—PurdueUni

2、versityFtWayneFtWayneIN468051499USACrespondenceshouldbeaddressedtoZ.M.Bieceived13January2011Revised19March2011Accepted4May2011AcademicEdit:YangminLiThedevelopmentofahybridreconfigurablemachinetoolhasbeenintroduced.Themac

3、hinetoolconsistsofatripodbasedparallelkinematicmachine(PKM)modulewiththreedegreesoffreedom(DOF)aseriallinearXYtablewithtwoDOF.ThePKMisinstalledonagantrysystemwhichiscapableofreconfiguringitspositionientation.Inthedesigno

4、ftripodbasedparallelmechanismapassivelinkisusedtoenhancethestiffnessincreasethewkingload.Toavoidthebuildupoftheheatoftheextensiveactuationthreejointsareactuatedviatheactuatswithaconstantlength.ThegeometriesofthePKMhavebe

5、enoptimizedfthebesthighestaccuracy.Inthispaperitscontrolsystemtheprototypingdevelopmentarefocused.Anopenarchitectureisappliedthecontrolmethodologiesaredevelopedvalidatedthecrespondingsoftwaretoolshavebeen3Differingfromtr

6、aditionalmodularmachinetoolsthereconfigurablemachinetoolattheUniversityofMichiganaimsatmodularityintegrabilitycustomizationconvertibilitydiagnosability.Thesystemisdesignedtoreconfigurefrequentlyinadynamicenvironment[46].

7、Unftunatelythedesignconceptwasnotfullyimplementedsomeobstaclessloweddowntheirresearchdevelopment[7].ThereconfigurableParallelKinematicMachine(PKM)isanotheralternativetoreconfiguremachinetools[810].TheeticallyPKMshavethep

8、otentialstoachievehigherspeedhigheraccuracydealwithaheavierload.HowevertheacteristicsofthePKMshavenotbeenwellstudied.MostofthecommerciallyavailablePKMsarehighcostmachinesthatprovideloweraccuracythanconventionalmachinetoo

9、ls[711].MestudiesareondemtodevelopcompetitivePKMs.FexampleZhaoetal.[12]introducedanewparallelsimulatwithsixdegreesoffreedom(DOF)thisnewPKMadoptsredundantactuationstoincreasethecapacitytoresistexternalloadprolongtheactuat

10、s’lifetime.RedundancyofinversekinematicsfaredundantrobotisoftenaddressedbythepseudoinversemethodWangetal.expedthismethodasaresolutionftheredundantrelationsatvelocityaccelerationlevelssocalledclosedloopinversekinematicsal

11、githmwasproposedtocontrola7DOFredundantPKM[13].YunLidevelopedthestiffnessmodelsftheflexurehinges[14]theirwkhasitssignificanceinpredictingthedeflectionsimprovingtheprecisionofPKMs.Researchershavecontinuedinmakingprogresso

12、nreconfigurableroboticsystems.Fexampleatypeofsquarecubiccellmodulehasbeendesignedasthebasicelementtobuildvariousroboticconfigurationsfdifferentapplication.Thetargetedconfigurationscanbeopenloopclosedloopacombinationofbot

13、h[15].TodevelopacosteffectivePKMmachinetoolthetripodbasedPKMisfocusedduetoitstwosignificantmeritsthatistheversatilitythebenefitsofaclosedloopmechanism.TripodbasedPKMsarethemostversatileoneamongtheexistingPKMs.Atripodbase

14、dPKMtypicallypossessesthreeDOF.Dependingonitsstructureitcanproduceanendeffectmotionwiththepurerotationthepuretranslationacombinationofrotationtranslation.TripodbasedPKMscanperfmmanydifferentmachiningoperationssincethemaj

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