公开(公告)号：US20160250749A1

公开(公告)日：2016-09-01

申请号：US15046706

申请日：2016-02-18

Applicant: Khalifa University of Science, Technology and Research

Inventor： Dongming GAN ,  Jian S. DAI ,  Jorge DIAS ,  Rehan UMER ,  Lakmal SENEVIRATNE

IPC: B25J9/00 ,  B29C70/38 ,  B29C70/06 ,  B25J9/16 ,  B25J11/00

CPC classification number: B25J9/006 ,  B25J9/0072 ,  B25J9/1697 ,  B25J11/005 ,  B25J11/0055 ,  B25J11/0075 ,  B29C70/06 ,  B29C70/382 ,  B29C70/386 ,  B29K2101/10 ,  B29K2101/12 ,  B29K2105/06 ,  B29K2105/0881 ,  B29L2031/3076 ,  Y10S901/42 ,  Y10S901/43

Abstract: The present invention introduces a new concept of applying a parallel mechanism in automated fiber placement for aerospace part manufacturing. The proposed system requirements are 4DOF parallel mechanism consisting of two RPS and two UPS limbs with two rotational and two translational motions. Both inverse and forward kinematics models are obtained and solved analytically. Based on the overall Jacobian matrix in screw theory, singularity loci are presented and the singularity-free workspace is correspondingly illustrated. To maximize the singularity-free workspace, locations of the two UPS limbs with the platform and base sizes are used in the optimization which gives a new design of a 4DOF parallel mechanism. A dimensionless Jacobian matrix is also defined and its condition number is used for optimizing the kinematics performance in the optimization process. A numerical example is presented with physical constraint considerations of a test bed design for automated fiber placement.

Abstract translation: 本发明引入了一种在航空航天部件制造的自动光纤放置中应用并联机构的新概念。 所提出的系统要求是由两个RPS和两个具有两个旋转和两个平移运动的两个UPS四肢组成的4DOF并联机构。 分析得到并解决反向和正向运动学模型。 基于螺旋理论中的整体雅可比矩阵，提出了奇异点，并相应地说明了无奇异的工作空间。 为了最大化无奇点的工作空间，在优化中使用具有平台和基座尺寸的两个UPS四肢的位置，给出了4DOF并联机构的新设计。 还定义了无量纲雅可比矩阵，并且其条件数用于优化优化过程中的运动学性能。 给出了一个数字示例，其具有用于自动光纤放置的测试床设计的物理约束考虑。