A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool

Rushworth, Adam and Axinte, Dragos and Raffles, Mark and Cobos-Guzman, Salvador (2016) A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool. Mechatronics, 40 . pp. 63-77. ISSN 0957-4158

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Abstract

The scope of this paper is to present a novel method of actuating the legs of a walking parallel kinematic machine tool (WalkingHex) such that the upper spherical joint can be actively driven while walking and remain a free, passive joint while performing machining operations. Different concepts for the number of Degrees of Freedom (DoF) and methods for actuating the chosen concept are presented, leading to a description of a three-wire actuated spherical joint arrangement. The inverse kinematics for the actuation mechanism is defined and a control methodology that accounts for the redundantly actuated nature of the mechanism is explored. It is demonstrated that a prototype of the system is capable of achieving a motion position accuracy within 5.64% RMS. Utilising the concept presented in this paper, it is possible to develop a walking robot that is capable of manoeuvring into location and performing precision machining or inspection operations.

Item Type: Article
Keywords: Hexapod; Walking robot; 6-axis milling machine; Robotised machine tool; Leg design
Schools/Departments: University of Nottingham, UK > Faculty of Engineering > Department of Mechanical, Materials and Manufacturing Engineering
Identification Number: https://doi.org/10.1016/j.mechatronics.2016.10.010
Depositing User: Eprints, Support
Date Deposited: 08 Feb 2017 13:21
Last Modified: 09 Feb 2017 18:51
URI: http://eprints.nottingham.ac.uk/id/eprint/40440

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