Design, Analysis, and Fabrication of a Redundant Five-Axes Hybrid Serial-Parallel Kinematics Machine Tool

Abstract

Parallel kinematics mechanisms (PKMs) represent a class of robotic systems comprising an end-effector and a fixed base interconnected by multiple independent kinematics chains. Compared to their serial kinematics mechanisms counterparts, PKMs offer inherent stiffness, agility, and pose accuracy advantages. Nonetheless, challenges such as singularities and limited workspace persist within PKM designs. This research project targets the enhancement of a machine tool utilizing linear motors, specifically a 3PRR planar PKM characterized by its restricted workspace and tilting capabilities. To overcome these limitations, the project modifies the topology and actuator placement, thereby augmenting the kinematics and dynamics performance of the system. The investigation primarily focuses on maximizing the machine's workspace and tilting range. The goal is to enhance the overall capabilities of the parallel kinematics mechanism. The research methodology incorporates a range of critical analyses, including feasibility assessments, design optimization studies, evaluations of workspace and orientation ranges, stiffness analysis, and the presentation of a finite element model. These components collectively provide a thorough evaluation of the proposed enhancements. The improved design is fabricated and integrated with the controller, and a testing plan is set in place.

Date of Award	19 Jul 2024
Original language	American English
Supervisor	Bashar El Khasawneh (Supervisor)