Kinematic Sensitivity Analysis and Dimensional Synthesis of a Redundantly Actuated Parallel Robot for Friction Stir Welding

作     者：Xinxue Chai Ningbin Zhang Leiying He Qinchuan Li Wei Ye Xinxue Chai;Ningbin Zhang;Leiying He;Qinchuan Li;Wei Ye

作者机构：Faculty of Mechanical Engineering and AutomationZhejiang Sci-Tech UniversityHangzhou 310018China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2020年第33卷第1期

页      面：94-103页

核心收录：

学科分类：080503[工学-材料加工工程] 08[工学] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：Supported by National Natural Science Foundation of China(Grant Nos.U1713202 51525504) 

主　　题：Parallel robot Actuation redundancy Sensitivity Optimization Friction stir welding 

摘      要：Friction stir welding(FSW)has been widely applied in many fields as an alternative to traditional fusion *** serial robots can provide the orientation capability required to weld along curved surfaces,they cannot adequately support the huge axial downward forces that FSW *** parallel mechanism architectures,particularly redundantly actuated architectures for FSW,are still very *** this paper,a redundantly actuated 2 UPR-2 RPU parallel robot for FSW is proposed,where U denotes a universal joint,R denotes a revolute joint and P denotes a prismatic ***,its semi-symmetric structure is ***,inverse kinematics analysis involving an analytical representation of rotational axes is *** analysis is also conducted,which leads to the formation of a Jacobian *** performance is evaluated utilizing level set and convex optimization methods,where the local sensitivity indices are unit consistent,coordinate free,and of definite physical ***,global and hierarchical sensitivity indices are proposed for the design ***,dimension synthesis is conducted based on the sensitivity indices and the optimal link parameters of the parallel robot are *** summary,this paper proposes a dimensional synthesis method for a redundantly actuated parallel robot for FSW based on sensitivity indices.