Computer Science – Robotics
Scientific paper
2007-07-19
11th World Congress in Mechanism and Machine Science (04/2004) 1-6
Computer Science
Robotics
Scientific paper
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.
Chablat Damien
Merlet Jean-Pierre
Wenger Philippe
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