Parallel mechanism based automated fiber placement system
US10414042B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Feb 18, 2016 |
| Grant date | Sep 17, 2019 |
| Priority date | — |
| Expiry date | Dec 24, 2037 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/43
- WIPO fieldOther special machines
- WIPO sectorMechanical engineering
Abstract
The present invention introduces a new concept of applying a parallel mechanism in automated fiber placement for aerospace part manufacturing. The proposed system requirements are 4DOF parallel mechanism consisting of two RPS and two UPS limbs with two rotational and two translational motions. Both inverse and forward kinematics models are obtained and solved analytically. Based on the overall Jacobian matrix in screw theory, singularity loci are presented and the singularity-free workspace is correspondingly illustrated. To maximize the singularity-free workspace, locations of the two UPS limbs with the platform and base sizes are used in the optimization which gives a new design of a 4DOF parallel mechanism. A dimensionless Jacobian matrix is also defined and its condition number is used for optimizing the kinematics performance in the optimization process. A numerical example is presented with physical constraint considerations of a test bed design for automated fiber placement.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.