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| HAL : hal-00160062, version 1 |
| arXiv : 0707.0724 |
| Fiche détaillée |  Récupérer au format |
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| Problems of Mechanics 25, 4 (2006) 26-42 |
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| Workspace Analysis of the Parallel Module of the VERNE Machine |
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| Daniel Kanaan 1Philippe Wenger 1 |
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| Projet européen NEXT Collaboration(s) |
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| (01/12/2006) |
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| The paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel module consists of a moving platform that is connected to a fixed base by three non-identical legs. Each leg is made up of one prismatic and two pairs of spherical joint, which are connected in a way that the combined effects of the three legs lead to an over-constrained mechanism with complex motion. This motion is defined as a simultaneous combination of rotation and translation. A method for computing the complete workspace of the VERNE parallel module for various tool lengths is presented. An algorithm describing this method is also introduced. |
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| 1 : | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
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CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes |
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| Méthode de conception en mécanique |
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| Domaine | : | Informatique/Robotique Sciences de l'ingénieur/Mécanique/Génie mécanique |
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| Parallel manipulators – parallel kinematic machines – workspace – hybrid machine tools – complex motion – mobility analysis – inverse kinematics – singularity. |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00160062, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00160062 | |
| oai:hal.archives-ouvertes.fr:hal-00160062 | |
| Contributeur : Damien Chablat | |
| Soumis le : Mercredi 4 Juillet 2007, 18:33:56 | |
| Dernière modification le : Jeudi 5 Juillet 2007, 08:43:56 | |
