Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine
Само за регистроване кориснике
2019
Чланак у часопису (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
The paper describes the configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine (R2PKM). A generalized model which is used for solving inverse and direct kinematic problem is presented. Generalized equations that present the solutions of kinematic problems are derived and they are valid for any configuration of R2PKM. Characteristic configurations of the mechanism are given as an example of the concept realization. For selected configurations, workspaces are defined and possible singular positions of the mechanism are analyzed. Optimization of the mechanism legs length was performed using the condition number. Determination of optimal legs length has been shown for several different configurations of the parallel mechanism. Control and programming system is configured and experimental prototype of R2PKM is realized. Verification of the configured machine, configured control and programming system was performed on the virtual machine and also ...on the prototype of the machine by drawing several different contours.
Кључне речи:
Workspace / Virtual machine / Singularities / Reconfigurable control system / Reconfigurable 2-axis PKM / IKP and DKPИзвор:
Journal of Mechanical Science and Technology, 2019, 33, 7, 3407-3421Издавач:
- Korean Soc Mechanical Engineers, Seoul
Финансирање / пројекти:
- Ministry of Education, Science and Technological Development of Serbia
DOI: 10.1007/s12206-019-0636-z
ISSN: 1738-494X
WoS: 000484746000036
Scopus: 2-s2.0-85068794113
Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - Vasilić, Goran AU - Živanović, Saša AU - Kokotović, Branko AU - Dimić, Zoran PY - 2019 UR - https://machinery.mas.bg.ac.rs/handle/123456789/3125 AB - The paper describes the configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine (R2PKM). A generalized model which is used for solving inverse and direct kinematic problem is presented. Generalized equations that present the solutions of kinematic problems are derived and they are valid for any configuration of R2PKM. Characteristic configurations of the mechanism are given as an example of the concept realization. For selected configurations, workspaces are defined and possible singular positions of the mechanism are analyzed. Optimization of the mechanism legs length was performed using the condition number. Determination of optimal legs length has been shown for several different configurations of the parallel mechanism. Control and programming system is configured and experimental prototype of R2PKM is realized. Verification of the configured machine, configured control and programming system was performed on the virtual machine and also on the prototype of the machine by drawing several different contours. PB - Korean Soc Mechanical Engineers, Seoul T2 - Journal of Mechanical Science and Technology T1 - Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine EP - 3421 IS - 7 SP - 3407 VL - 33 DO - 10.1007/s12206-019-0636-z ER -
@article{ author = "Vasilić, Goran and Živanović, Saša and Kokotović, Branko and Dimić, Zoran", year = "2019", abstract = "The paper describes the configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine (R2PKM). A generalized model which is used for solving inverse and direct kinematic problem is presented. Generalized equations that present the solutions of kinematic problems are derived and they are valid for any configuration of R2PKM. Characteristic configurations of the mechanism are given as an example of the concept realization. For selected configurations, workspaces are defined and possible singular positions of the mechanism are analyzed. Optimization of the mechanism legs length was performed using the condition number. Determination of optimal legs length has been shown for several different configurations of the parallel mechanism. Control and programming system is configured and experimental prototype of R2PKM is realized. Verification of the configured machine, configured control and programming system was performed on the virtual machine and also on the prototype of the machine by drawing several different contours.", publisher = "Korean Soc Mechanical Engineers, Seoul", journal = "Journal of Mechanical Science and Technology", title = "Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine", pages = "3421-3407", number = "7", volume = "33", doi = "10.1007/s12206-019-0636-z" }
Vasilić, G., Živanović, S., Kokotović, B.,& Dimić, Z.. (2019). Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine. in Journal of Mechanical Science and Technology Korean Soc Mechanical Engineers, Seoul., 33(7), 3407-3421. https://doi.org/10.1007/s12206-019-0636-z
Vasilić G, Živanović S, Kokotović B, Dimić Z. Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine. in Journal of Mechanical Science and Technology. 2019;33(7):3407-3421. doi:10.1007/s12206-019-0636-z .
Vasilić, Goran, Živanović, Saša, Kokotović, Branko, Dimić, Zoran, "Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine" in Journal of Mechanical Science and Technology, 33, no. 7 (2019):3407-3421, https://doi.org/10.1007/s12206-019-0636-z . .