Zhao Mingyang

Development of a redundant robot manipulator based on three DOF parallel platforms

In this paper, a ten degrees of freedom (DOF) redundant robot manipulator based on three DOF parallel platforms is introduced. The main contents of the paper include configuration, kinematics, mechanical design and control system. The new robot is a hybrid serial system which is composed of a slide pair and three sections of three DOF parallel platforms. The system is driven by hydraulic cylinders and controlled by electric-hydraulic servo valves and STD Bus. It can sweep large workspace and be used for the operations inside of a large container.

Development of a novel parallel manipulator based machine tools

A new type of 5-axis parallel machine tool based on a novel 4 degrees-of-freedom hybrid parallel platform manipulator with base mounted prismatic actuators is presented. This machine tool is different from the Stewart platform type parallel machine tool in that its feed motion in X-direction is realized by the worktable on which the workpiece is fixed instead of the movable platform of the manipulator. Due to this special architecture, the workspace in X-direction of the new machine tool is greatly enlarged. Its rigidity is higher because of the adaptation of a gantry structure. This machine tool is controlled by a PC-based NC system in simultaneous 5-axis control mode.

Study on integration and modeling of simulation platform of reconfigurable assembly line

Agent-based and holonic manufacturing are considered as effective means for implementation of manufacturing system flexibility and reconfigurability. Before application to real manufacturing world, thorough evaluation is absolutely necessary. Simulation platform based on digital manufacturing provides effective approach on evaluation of reconfigurable assembly line based on cooperation and coordination mechanisms of multi-agent and holonic manufacturing methodologies. Production line digital manufacturing environment provides environment for design, engineering application and performance analysis for manufacturing system with multi equipments. Aiming at construction of this complex system, system integration based on manufacturing data, sub-system functional relation and software platform were studied. Tree-structure database support platform and whole digital model for manufacturing resource entities were analyzed.