Optimal Design of 2 DOF Parallel Kinematics Machines

PAMM ◽  
2006 ◽  
Vol 6 (1) ◽  
pp. 705-706 ◽  
Author(s):  
Sergiu-Dan Stan ◽  
Vistrian Maties ◽  
Radu Balan
Keyword(s):  
Optimal Design ◽  
Parallel Kinematics ◽  
Parallel Kinematics Machines

On the Terminology for Redundant Parallel Manipulators

2008 ◽  
Author(s):  
Andreas Mu¨ller
Keyword(s):  
Dynamic Properties ◽  
Parallel Manipulators ◽  
Point Of View ◽  
Linear Control Systems ◽  
Parallel Kinematics ◽  
Parallel Kinematics Machines ◽  
Geometric Point ◽  
Different Types ◽  
Potential Applications ◽  
General Mathematical Model

Different types of redundancy in parallel kinematics machines (PKM) can be used to improve their kinematic and dynamic properties. The meaning of redundancy of PKM is often differently understood in the literature. In this paper a terminology for redundant PKM is proposed. The basis for this classification is a general mathematical model. With the help of this model PKM are regarded as non-linear control systems. The different types of redundancy are clearly distinguished, and their potential applications are discussed. Redundancy is considered from a geometric point of view. Redundancy is a means to deal with singularities of PKM. The different types of singular configurations are considered in the paper, and the potential of redundancy to cope with such situations is discussed. Again singularities are considered from a geometric point of view.

scholarly journals The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine

2005 ◽  
Vol 128 (4) ◽  
pp. 710-718 ◽  
Author(s):  
D. Chablat ◽  
J. Angeles
Keyword(s):  
Parallel Robot ◽  
Rolling Motion ◽  
Parallel Kinematics ◽  
Cam Mechanism ◽  
Pure Rolling ◽  
Parallel Kinematics Machines

The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-o-Cam was reported elsewhere. This drive thus provides pure-rolling motion, thereby reducing the friction of rack-and-pinions and linear drives. Such properties can be used to design new transmissions for parallel-kinematics machines. In this paper, this transmission is intended to replace the ball-screws in Orthoglide, a three-dof parallel robot intended for machining applications.

A Calibration Approach for the Parallel Kinematics Machines Tools Based on Error Sensitivity Analysis

2013 ◽  
Vol 842 ◽  
pp. 355-362
Author(s):  
Yong Shi ◽  
Wen Tao Liu
Keyword(s):  
Numerical Methods ◽  
Structural Parameters ◽  
Geometrical Parameters ◽  
Parallel Kinematics ◽  
Sensitivity Matrix ◽  
Error Sensitivity ◽  
Identification Method ◽  
Parallel Kinematics Machines ◽  
Error Sensitivity Analysis ◽  
Spatial Locations

In order to identify the geometrical parameters of parallel kinematics machines tools (PKM), a new parameters identification method is presented. The identification method is proposed based on a pose discrepancy model, which is deduced from the error between the nominal and measurement relative distance of two different spatial locations of the moving platform. In the identification method, an error sensitivity matrix, which expresses the sensitivity between the pose error and geometrical structural parameters error of PKM, can be created with numerical methods. The results of different numerical methods are analyzed. A measurement method to get the precise lengths of legs is presented, which decrease the number of identified parameters. In an experiment, the error of PKM is reduced from 6.71mm to 1.144mm. Therefore, the identification method is verified effective and feasible.

Sign in / Sign up

Export Citation Format

Share Document