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

Adam Rushworth, Dragos Axinte, Mark Raffles, Salvador Cobos-Guzman

Research output: Journal PublicationArticlepeer-review

13 Citations (Scopus)
4 Downloads (Pure)

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.

Original languageEnglish
Pages (from-to)63-77
Number of pages15
JournalMechatronics
Volume40
DOIs
Publication statusPublished - 1 Dec 2016

Keywords

  • 6-axis milling machine
  • Hexapod
  • Leg design
  • Robotised machine tool
  • Walking robot

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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