A Novel method for the design of 2-DOF Parallel mechanisms for machining applications

Félix Majou (1) , Philippe Wenger (1) , Damien Chablat (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

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.

Mots clés: Parallel Kinematic Machine Tool; Velocity Amplification Factors; Optimal Workspace Design; Orthoglide

Domaines: Robotique [cs.RO]

Félix Majou, Philippe Wenger, Damien Chablat. A Novel method for the design of 2-DOF Parallel mechanisms for machining applications. 2002, Caldes de Malavella, Spain. pp.1-11. ⟨hal-00145299⟩