Abstract
High-efficiency and high-precision machining of large-scale structural parts is one of the difficult problems in the field of machining. Such parts usually have the characteristics of large size, large aspect ratio, and complex geometric shapes. This paper attempts to propose a gantry machining equipment with five-axis parallel processing module. It can realize large stroke positioning and small range precise operation. Large aspect ratio parts can be processed once without repeatedly clamping workpieces and setting tools, which improves machining efficiency and precision. According to this design concept, the tilt and torsion angles are used to describe the end posture. On this basis, the motion/force transmission performance and mechanism geometric restraint conditions are considered. This paper comprehensively evaluates the performance of the mechanism by integrating the local transmission index (LTI) and the angle between the screw and the spindle, and then optimizes the design of the parallel processing module through parameter optimization algorithms. The optimization results show that the parallel processing module has excellent kinematic transmission performance in the allowable workspace. It means that parallel processing module with gantry structure can realize high-efficiency and high-precision machining of structural parts with large aspect ratio.
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This work is supported by National Key R&D Program of China under Grant 2019YFA0706701, and the National Natural Science Foundation of China under Grants 51922057 and 91948301.
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Wen, J., Xie, F., Bi, W., Liu, XJ. (2021). Conceptual Design and Kinematic Optimization of a Gantry Hybrid Machining Robot. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_70
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