Proposing an Optimized Controller Mechanism of a CNC Machine Tool and Analyzing its Kinematic and Dynamic Characteristics

Please enable javascript in your browser.

Rastkar, Siavash | 2009

583 Viewed

Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 39325 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Zohoor, Hassan
Abstract:
In this thesis a 2-3PRS hybrid mechanism is presented. This manipulator is consisted of two serially connected parallel 3PRS mechanisms, each mechanism has three degrees of freedom, so that the overall degrees of freedom of the manipulator are six. The relations for position, velocity and acceleration of the mechanism in both forward and inverese kinematics are derived and then singular points are determined. After that, the inverse dynamic equations for one of the 3PRS mechanisms are derived through the Newton-Euler and aslo Lagrange approach and the results are verified. Then the derived Newton-Euler equations are implemented for inverse and forward dynamics of the hybrid manipulator. The actuator layout angle, ratios of the moving platform radious and length of the revolute joint to the base paltform radious are considered as design parameters. Then the reachable workspace volume and global dexterity index which are considered as valuation criteria for usage of the mechanism as machine tool controller are derived by the changing of the design parameters. Finally the optimal design conditions are obtained and the shape of the workspace is investigated at this point
Keywords:
Kinematics Analysis ; Dynamic Analysis ; Optimal Design ; Hybrid Mechanism

No TOC