A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool
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...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Published: |
Elsevier
2016
|
| Subjects: | |
| Online Access: | https://eprints.nottingham.ac.uk/40440/ |
| _version_ | 1848796057169821696 |
|---|---|
| author | Rushworth, Adam Axinte, Dragos Raffles, Mark Cobos-Guzman, Salvador |
| author_facet | Rushworth, Adam Axinte, Dragos Raffles, Mark Cobos-Guzman, Salvador |
| author_sort | Rushworth, Adam |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T19:41:55Z |
| format | Article |
| id | nottingham-40440 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T19:41:55Z |
| publishDate | 2016 |
| publisher | Elsevier |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-404402020-05-04T18:27:19Z https://eprints.nottingham.ac.uk/40440/ A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool Rushworth, Adam Axinte, Dragos Raffles, Mark Cobos-Guzman, Salvador 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. Elsevier 2016-12-07 Article PeerReviewed Rushworth, Adam, Axinte, Dragos, 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 Hexapod; Walking robot; 6-axis milling machine; Robotised machine tool; Leg design http://www.sciencedirect.com/science/article/pii/S0957415816301222 doi:10.1016/j.mechatronics.2016.10.010 doi:10.1016/j.mechatronics.2016.10.010 |
| spellingShingle | Hexapod; Walking robot; 6-axis milling machine; Robotised machine tool; Leg design Rushworth, Adam Axinte, Dragos Raffles, Mark Cobos-Guzman, Salvador A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool |
| title | A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool |
| title_full | A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool |
| title_fullStr | A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool |
| title_full_unstemmed | A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool |
| title_short | A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool |
| title_sort | concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool |
| topic | Hexapod; Walking robot; 6-axis milling machine; Robotised machine tool; Leg design |
| url | https://eprints.nottingham.ac.uk/40440/ https://eprints.nottingham.ac.uk/40440/ https://eprints.nottingham.ac.uk/40440/ |