Design of 2-Dof Parallel Mechanisms for Machining Applications

Abstract

Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative study of two simple two-degree-of-freedom PKM dedicated to machining applications is led through this method: the common desired properties are the largest square Cartesian workspace for given kinetostatic performances. The orientation and position of the Cartesian workspace are chosen to avoid singularities and to produce the best ratio between Cartesian workspace size and mechanism size. The machine size of each resulting design is used as a comparative criterion.

A new isotropic and decoupled 6-DoF parallel manipulator

“…As a consequence, direct and inverse position problems are linear and the kinematic analysis proves straightforward [2]. Some other robots can continuously reach different isotropic configuration following a path called continuum isotropy locus [25,26].…”

Modeling and PDC fuzzy control of planar parallel robot

“…The Biglide is a 2-DOF planar parallel manipulator 31,45 ( Figure 1). This parallel kinematic machine consists of two bars mounted through a joint on two separate sliding blocks (active prismatic joints), the extremity of each bar is connected to an end effector, thereby forming a CKC.…”

“…Numerical simulations include a model with structured and unstructured uncertainties based on the nominal model used to design the controller. Unmodeled dynamics such as elastic joints 44,8 between actuators and linkages and Stribeck friction 45,8 applied on prismatic joints appear in this augmented model to provide more realistic simulations.…”

Global Optimization of Performance of a 2prr Parallel Manipulator for Cooperative Tasks

“…This mechanism, termed 2-dof Orthoglide, has been analyzed in previous works (Wenger et. al., 2001;Majou et. al., 2002).…”