Research And Design Of A Parallel Kinematics Machine For Stone Processing

With the rapid development of construction industry and ever growing requirements ofpeople’s life, the demand for special shaped stones on the market has increased dramatically,which promotes stone machining equipment to work faster and be more flexible. Comparedwith series mechanism, parallel mechanism has less moving parts and higher stiffness, so itcan work better in high-speed processing and has a smaller deformation under the sameimpulsive load. At present, the research of the parallel kinematics machine for stoneprocessing is still blank. Thus it’s of great importance to research the parallel mechanismsuitable for stone processing, which can expand the varieties of stone machining equipment,improve the stone processing technology, and promote the development of stone industry.The most suitable parallel mechanism named Tricept for stone processing is chosen onthe base of the demands and shaping principle of the commonly used stone products and thecharacteristics of each parallel mechanism structure. The overall size parameters aredetermined according to its workspace which is decided by stone processing characteristics.A3D model of the calculated Tricept robot is established in SolidWorks.The description of the Tricept robot’s posture and the calculation of its degrees offreedom are displayed. The inverse kinematics of Tricept is established. The singular positionsof the Tricept robot are revealed and successfully plotted in Cartesian coordinate system.Through the comparison between the workspace and singular positions in Cartesiancoordinate system, the correctness of the former overall design is checked.The structure of machine base is designed with the help of modal analysis. The naturalfrequencies and modes of vibration of the machine tool with a series of different Triceptpostures are analyzed by ANSYS Workbench. The dynamical response of the parallelmechanism under impulsive load is analyzed, which supports the correctness of the structureand idea to develop a parallel kinematics machine for stone processing.