A comparative study between two three-DOF parallel kinematic machines using kinetostatic criteria and interval analysis

被引：0

作者：

Chablat, D ^{[1
]}

Wenger, P ^{[1
]}

Merlet, JP ^{[1
]}

机构：

[1] Inst Rech Commun & Cybernet, F-44321 Nantes, France

来源：

ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS | 2004年

关键词：

parallel kinematic architecture; singularity; workspace; transmissions factors; stiffness; design; interval analysis;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of the first machine are orthogonal whereas these of the second are parallel. In both cases, the mobile platform moves in the Cartesian x - y - z space with fixed orientation. The workspace analysis is conducted on the basis of prescribed kinetostatic performances. Interval analysis based methods are used to compute the dextrous workspace and the largest cube enclosed in this workspace.

引用

页码：1209 / 1213

页数：5

共 21 条

[1]

Angeles J., 2002, Fundamentals of robotic mechanical systems: Theory methods, and algorithms, V2nd ed.

[2]

[Anonymous], P WORKSH COMP KIN 20

[3]

[Anonymous], P WORKSH FUND ISS FU

[4]

[Anonymous], SEA

[5]

[Anonymous], 1997, P IMECE S MACH TOOLS

[6] Singularity-free fully-isotropic translational parallel mechanisms [J].

Carricato, M ;

Parenti-Castelli, V .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2002, 21 (02) :161-174

[7]

CHABLAT D, 2003, IEEE T ROBOTICS JUN

[8]

Clavel R., 1988, Proceedings of the 18th International Symposium on Industrial Robots, P91

[9] Modelling and design issues of a 3-axis parallel machine-tool [J].

Company, O ;

Pierrot, F .

MECHANISM AND MACHINE THEORY, 2002, 37 (11) :1325-1345

[10]

Golub G.H., 2013, Matrix Computations, V4th

← 1 2 3 →