Kinematic Design of 3-rpsr Parallel Mechanism for Movable-die Drive Mechanism of Pipe Bender
نویسندگان
چکیده
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.
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