A New Concept of Modular Parallel Mechanism for Machining Applications

Damien Chablat (1) , Philippe Wenger (1)

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

The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last case, the position and the orientation of the tool are coupled and the shape of the workspace is complex. The aim of this paper is to use a simple parallel mechanism with two-degree-of-freedom (dof) for translation motions and to add one or two legs to add one or two-dofs for rotation motions. The kinematics and singular configurations are studied for each mechanism.

Mots clés: Parallel Machine Tool; Isotropic Design; Singularity

Domaines: Robotique [cs.RO]

Damien Chablat, Philippe Wenger. A New Concept of Modular Parallel Mechanism for Machining Applications. 2003, Taipei, Taiwan. pp.1-6. ⟨hal-00145368⟩