KINEMATIC DESIGN OF 3-RPSR PARALLEL MECHANISM FOR MOVABLE-DIE DRIVE MECHANISM OF PIPE BENDER
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2013, Vol 58, Issue 1
Abstract
The authors have been developing a pipe bender which fabricates pipes of three-dimensional complex shapes from straight pipes based on the penetration bending method. This bender is composed of a movable die supported by a drive mechanism, a fixed die and a pipe feeder. A 3-RPSR parallel mechanism was employed as the movable-die drive mechanism, and its kinematic design was figured out under the consideration of singularity and motion range of each joint to guarantee the capability for achieving a large orientation. Compliance characteristics and accuracy in pipe bending of the 3-RPSR mechanism taking into account the elastic deformation of links and servo compliances were discussed. A prototype pipe bender, which has been constructed based on the proposed kinematic design of the 3-RPSR mechanism, is shown. Experimental results of pipe bending using the prototype were shown and the effect of the improvement of orientation capability of the movable-die drive mechanism on the accuracy of bent pipe was discussed.
Authors and Affiliations
YUKIO TAKEDA, SATOSHI INADA, SHOHEI KAWASUMI, DAISUKE MATSUURA, KAZUYA HIROSE, KEN ICHIRYU
Keywords
Related Articles
- EP ID EP179094
- DOI -
- Views 87
- Downloads 0
NOVEL ARCHITECTURE OF INTELLIGENT AXES FOR FAST INTEGRATION INTO RECONFIGURABLE ROBOT MANIPULATORS: A STEP TOWARDS SUSTAINABLE MANUFACTURING
Sustainable manufacturing processes are defined as the totality of direct and related actions of goods creation which involve a reduced negative impact to environment, sufficient economical income together with society s...
MODÈLE MATRICIEL EN DYNAMIQUE DU ROBOT PARALLÈLE STEWART-GOUGH
L’article établit des relations matricielles itératives d’analyse cinématique et dynamique du robot parallèle Stewart-Gough, schématisé dans l’espace par un réseau de chaînes cinématiques fermées. Sous l’action de six fo...
FORMULATION ANALYTIQUE DES EFFORTS DE REDUCTION AU DROIT DE L’INTERFACE FLUIDE-STRUCTURE DES BARRAGES RIGIDES A FRUITS COMPOSES SOUS EXCITATIONS SISMIQUES
Les barrages, constituent des ouvrages à caractère stratégique important. L’évaluation de leur sécurité parasismique requiert, entre autres, une détermination précise des pressions hydrodynamiques et par suite de la dist...
PREDICTION OF THE FORMING LIMIT CURVES USING GTN DAMAGE MODEL
In this paper, the forming limit curve of an AA6016-T4 sheet metal is constructed using Gurson-Tvergaard-Needleman (GTN), Marciniak-Kuczynski (M-K) and Modified Maximum Force Criterion (MMFC) models. The mechanical behav...
GAS TURBINE AS RANGE EXTENDER FOR FUTURE ELECTRIC AUTOMOBILES
The propulsion of automobiles by motors, especially by hub motors, integrated into the wheels, offers remarkable advantages in terms of vehicle dynamics, stability and freedom of movement. But the most important benefit...