Computer Science – Robotics
Scientific paper
2007-05-09
8th International Symposium on Advances in Robot Kinematics (2002) 1-11
Computer Science
Robotics
Scientific paper
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.
Chablat Damien
Majou Félix
Wenger Philippe
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