Computer Science – Robotics
Scientific paper
2007-07-25
Dans 2nd Workshop on Computational Kinematics - WCK, S\'eoul : Cor\'ee, R\'epublique de (05/2001)
Computer Science
Robotics
Scientific paper
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant length struts gliding along fixed linear actuated joints with different relative orientation. The comparative study is conducted on the basis of a same prescribed Cartesian workspace for the three mechanisms. The common desired workspace properties are a rectangular shape and given kinetostatic performances. The machine size of each resulting design is used as a comparative criterion. The 2-DOF machine mechanisms analyzed in this paper can be extended to 3-axis machines by adding a third joint.
Chablat Damien
Gosselin Clément
Wenger Philippe
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