Single Drive Dual Linkage Redundant Drive Design And Parallel Machine Tool Performance Evaluation

in order to expand and regular the workspace of C-shaped Gantry Parallel Machine Tool (C-PMT), this parallel machine tool originally has a orizontal Redundant Actuation,and then it was added a single-drive two linkage linear modules as vertical Redundant Actuation. Thereby the paper carrys out the research of the single-drive two linkage linear modules,such as design, optimization, stiffness analysis and its impact on the working space and performance of the C-PMT. The main contents are as follows:Firstly, the paper designs a single-drive two linkage linear modules according to the frame of C-PMT. The moving distances of the two sliders,which are located on two sets of telescopic poles, can have a symmetrical relationship on the the frame of C-PMT. To achieve this goal, the paper analyzes the linear modules of each member’s influence on the moving distances of the two sliders through Matlab, and ultimately determines the size of linear modules.Secondly, the paper conducts kinematics analysis and force analysis of C-PMT. Based on the structural characteristics of C-PMT, the paper has solved inverse position equation of it. Under the condition of determined posture and Working load of C-PMT, the paper has obtained each spherical hinge’s suffered force.Thirdly, the paper has solved the workspace of C-PMT using limit boundary search method.When the C-PMT has a vertical Redundant Actuation or not, the paper will compare each section’s workspace of C-PMT.Finally, the paper conducts stiffness analysis of the single-drive two linkage linear modules.lt analyzes and identifys the main factors influencing the stiffness of the linear modules,and then it establishs stiffness model of the linear modules. Finally, the paper gets graphs through Matlab which linear modules’stiffness changes as spherical hinges’ suffered force chang.