Wang / Xi Smart Devices and Machines for Advanced Manufacturing

1. Auflage 2008
ISBN: 978-1-84800-147-3
Verlag: Springer-Verlag
Format: PDF
Kopierschutz: Adobe DRM (»Systemvoraussetzungen)

E-Book, Englisch, 390 Seiten

Manufacturing has been one of the key areas that support and influence a nation’s economy since the 18th century. Being the primary driving force in economic growth, manufacturing constantly serves as the foundation of and contributes to other industries. In the past centuries, manufacturing has contributed to the modern civilisation and created momentum that is continuously driving today’s economy. Despite various revolutionary changes and innovations in the 20th century that contributed to manufacturing advancements, we are facing new challenges when striving to achieve greater success in winning global competitions. Machines and robots, as the constituent components in manufacturing, have contributed significantly to the success of advanced manufacturing. After evolving from the initial mechanisation era where mechanical devices were created to replace human labours to the later automation era where control devices were invented to replace human operations, the history of machines has now entered into the modern era of autonomisation where intelligent devices are being developed in an attempt to eventually replace human decision making. While machines are becoming more and more intelligent through integration with new technologies including sensors, controls, computers and even the Internet, machine structures and theories have also advanced, most noticeably in the area of parallel kinematic machines and micro machines.

Autoren/Hrsg.

Wang, Lihui

Xi, Fengfeng

Inhaltsverzeichnis

1;Preface;5
2;Contents;9
3;List of Contributors;17
4;1 Appropriate Design of Parallel Manipulators;20
4.1;1.1 Introduction;20
4.2;1.2 Understanding End-user Wishes and Performance Indices;21
4.3;1.3 Structural Synthesis;26
4.4;1.4 Dimensional Synthesis;27
4.5;1.5 The Parameter Space Approach;31
4.6;1.6 Other Design Approaches;39
4.7;1.7 Conclusions;40
4.8;References;40
5;2 Gravity Compensation, Static Balancing and Dynamic Balancing of Parallel Mechanisms;46
5.1;2.1 Introduction and Definitions;46
5.2;2.2 Mathematical Conditions for Balancing;47
5.3;2.3 Static Balancing;49
5.4;2.4 Gravity Compensation;55
5.5;2.5 Dynamic Balancing;59
5.6;2.6 Conclusions;66
5.7;Acknowledgment;66
5.8;References;66
6;3 A Unified Methodology for Mobility Analysis Based on Screw Theory;68
6.1;3.1 Introduction;68
6.2;3.2 Basic Screw Theory and Mobility Methodology;70
6.3;3.3 Mobility Analysis of Single-loop Mechanisms;76
6.4;3.4 Mobility Analysis of Parallel Mechanisms;82
6.5;3.5 Discussions;92
6.6;3.6 Conclusions;94
6.7;Acknowledgment;95
6.8;References;95
7;4 The Tau PKM Structures;98
7.1;4.1 Introduction;98
7.2;4.2 Non-symmetrical PKM Structures;100
7.3;4.3 The SCARA Tau PKM;103
7.4;4.4 The Gantry Tau PKM;106
7.5;4.5 The Reconfigurable Gantry Tau PKM;109
7.6;4.6 Industrial Potential of PKMs based on Tau Structures;124
7.7;4.7 Conclusions;127
7.8;Acknowledgement;128
7.9;References;128
8;5 Layout and Force Optimisation in Cable-driven Parallel Manipulators;130
8.1;5.1 Introduction;130
8.2;5.2 Static Force Analysis;131
8.3;5.3 Optimum Layout for the Redundant Limb;134
8.4;5.4 Minimising Cable Tensions;149
8.5;5.5 Conclusions;152
8.6;References;153
9;6 A Tripod-based Polishing/Deburring Machine;156
9.1;6.1 Introduction;156
9.2;6.2 Hybrid Machine Design;158
9.3;6.3 Motion Planning;161
9.4;6.4 Motion Simulation, Part Localisation and Measurement;165
9.5;6.5 Tripod Stiffening;169
9.6;6.6 Compliant Toolhead Design;172
9.7;6.7 Tool Control;176
9.8;6.8 Test Examples;182
9.9;6.9 Conclusions;183
9.10;References;184
10;7 Design and Analysis of a Modular Hybrid Parallel-Serial Manipulator for Robotised Deburring Applications;186
10.1;7.1 Introduction;186
10.2;7.2 Design Considerations;188
10.3;7.3 Forward Displacement Analysis;191
10.4;7.4 Inverse Displacement Analysis;198
10.5;7.5 Instantaneous Kinematics;200
10.6;7.6 Computation Examples;202
10.7;7.7 Application Studies;203
10.8;7.8 Conclusions;205
10.9;Acknowledgment;206
10.10;References;206
11;8 Design of a Reconfigurable Tripod Machine System and Its Application in Web- based Machining;208
11.1;8.1 Introduction;208
11.2;8.2 Related Work;209
11.3;8.3 Design of Reconfigurable Tripod Machine Tools;210
11.4;8.4 Kinematics, Dynamics and Optimisation;212
11.5;8.5 Integrated Design Tools;225
11.6;8.6 Web-based Machining: a Case Study;232
11.7;8.7 Conclusions;236
11.8;Acknowledgment;236
11.9;References;236
12;9 Arch-type Reconfigurable Machine Tool;238
12.1;9.1 Introduction;238
12.2;9.2 Design and Construction;240
12.3;9.3 Dynamic Performance;244
12.4;9.4 Conclusions;255
12.5;Acknowledgement;255
12.6;References;255
13;10 Walking Drive Enabled Ultra-precision Positioners;258
13.1;10.1 Introduction;258
13.2;10.2 One-axis Feed Drive;259
13.3;10.3 Three-axis Feed Drive;264
13.4;10.4 Conclusions;274
13.5;References;274
14;11 An XY Z Planar Motion Stage System Driven by a Surface Motor for Precision Positioning;276
14.1;11.1 Introduction;276
14.2;11.2 The XY Z Surface Motor;278
14.3;11.3 The Decoupled Controller;283
14.4;11.4 The XY Z Surface Encoder;290
14.5;11.5 Precision Positioning by the XY Z Stage System;296
14.6;11.6 Conclusions;298
14.7;Acknowledgment;298
14.8;References;298
15;12 Design and Analysis of Micro/Meso-scale Machine Tools;302
15.1;12.1 Introduction;302
15.2;12.2 Overview of Worldwide Research on the mMT Paradigm;304
15.3;12.3 Overview of mMT Developments in USA;307
15.4;12.4 Development of a Three-axis mMT;308
15.5;12.5 Development of a Five-axis mMT;313
15.6;12.6 A Hybrid Methodology for Kinematic Calibration of mMTs;325
15.7;12.7 Challenges in mMT Development;331
15.8;12.8 The Status of mMT Commercialisation Worldwide;332
15.9;12.9 Conclusions;333
15.10;Acknowledgements;334
15.11;References;334
16;13 Micro-CMM;338
16.1;13.1 Introduction;338
16.2;13.2 Structure of a Micro-CMM;340
16.3;13.3 Probes;343
16.4;13.4 Actuator and Feedback Sensor;348
16.5;13.5 System Integration and Motion Control;351
16.6;13.6 Conclusions;353
16.7;Acknowledgment;353
16.8;References;353
17;14 Laser-assisted Mechanical Micromachining;356
17.1;14.1 Introduction;356
17.2;14.2 Development of LAMM-based Micro-grooving Process;358
17.3;14.3 Process Characteristics;360
17.4;14.4 Process Modelling;366
17.5;14.5 Summary and Future Directions;381
17.6;Acknowledgment;382
17.7;References;382
18;15 Micro Assembly Technology and System;386
18.1;15.1 Introduction;386
18.2;15.2 Micro Grippers;387
18.3;15.3 Precision Positioning;395
18.4;15.4 A Sample Micro Assembly System;399
18.5;15.5 Conclusions;401
18.6;Acknowledgment;402
18.7;References;402
19;Index;404