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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 39426 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Zohoor, Hassan; Movahhedy, Mohammad Reza
- Abstract:
- Parallel kinematics machine tools (PKMs) are being received in recent years and their capability for machining has been widely studied. One of the disadvantages of these kinds of machine tools is dependency of their structural properties on their configuration. In this thesis, the effect of this dependency on machine stability for the case of a hexapod and a hexaglide machine tool is studied. The process of modeling and analysis are implemented for the hexaglide and hexapod machine tools. In the modeling, the legs are modeled using rod and beam elements whereas platform is assumed to be rigid. Both experimental and analytical analysis show that dominant frequencies of PKMs at tool tip are in low ranges. It is shown that due to having dominant modes at low frequencies, the machine has good stability for high speed ranges. However, low dynamic stiffness at low frequency ranges in PKMs can reduce surface finish quality.
Relationship between static and dynamic stiffness is studied through the workspace. It is shown that minimum of dynamic stiffness changes in the same pattern that minimum of static stiffness changes. So the static stiffness can be regarded as the best designing criterion for optimizing PKMs for better resistance against adverse vibrations and static form errors - Keywords:
- Parallel Mechanism ; Dynamic Stability ; Modal Analysis ; Hexapod Robot ; Hexaglide Parallel Robot ; Dynamic Stiffness ; Static Stiffness
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