The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 17, 2019
Filed:
Feb. 18, 2016
Khalifa University of Science and Technology, Abu Dhabi, AE;
Aerospace Holding Company Llc, Abu Dhabi, AE;
Dongming Gan, Abu Dhabi, AE;
Jian S. Dai, Abu Dhabi, AE;
Jorge Dias, Abu Dhabi, AE;
Rehan Umer, Abu Dhabi, AE;
Lakmal Seneviratne, Abu Dhabi, AE;
KHALIFA UNIVERSITY OF SCIENCE AND TECHNOLOGY, Abu Dhabi, AE;
AEROSPACE HOLDING COMPANY LLC, Abu Dhabi, AE;
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.