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Title: Kinematics analysis of a hybrid manipulator for computer controlled ultra-precision freeform polishing
Authors: Xu, P
Cheung, CF 
Li, B
Ho, LT
Zhang, JF
Keywords: Freeform surface
Hybrid manipulator
Precession motion
Ultra-precision polishing
Issue Date: 2017
Publisher: Pergamon Press
Source: Robotics and computer - integrated manufacturing, 2017, v. 44, p. 44-56 How to cite?
Journal: Robotics and computer - integrated manufacturing 
Abstract: As one of the final processing steps of precision machining, polishing process is a very key decision for surface quality. This paper presents a novel hybrid manipulator for computer controlled ultra-precision (CCUP) freeform polishing. The hybrid manipulator is composed of a three degree-of-freedom (DOF) parallel module, a two DOF serial module and a turntable providing a redundant DOF. The parallel module gives the workpiece three translations without rotations. The serial module holds the polishing tool and gives it no translations on the polishing contact area due to its particular mechanical design. A detailed kinematics model is established for analyzing the kinematics of the parallel module and the serial module, respectively. For the parallel module, the inverse kinematics, the forward kinematics, the Jacobian matrix, the workspace and the dexterity distribution are analyzed systematically. Workspaces are also investigated for varying structural parameters. For the serial module, the inverse kinematics, the forward kinematics, the workspace and the precession motion analysis are carried out. An example of saddle surface finishing with this manipulator is given and the movement of actuators with respect to this shape is analyzed theoretically. These analysis results illustrate that the proposed hybrid manipulator is a very suitable machine structure for CCUP freeform polishing.
ISSN: 0736-5845
DOI: 10.1016/j.rcim.2016.08.003
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