A Comparative Study of Parallel Kinematic Architectures for Machining Applications

Philippe Wenger (1) , Clément Gosselin (2) , Damien Chablat (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 ROBOTICS LABORATORY - Robotics Laboratory

Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant length struts gliding along fixed linear actuated joints with different relative orientation. The comparative study is conducted on the basis of a same prescribed Cartesian workspace for the three mechanisms. The common desired workspace properties are a rectangular shape and given kinetostatic performances. The machine size of each resulting design is used as a comparative criterion. The 2-DOF machine mechanisms analyzed in this paper can be extended to 3-axis machines by adding a third joint.

Mots clés: parallel kinematic machine; pkm; optimal design; dextrous workspace; planar parallel mechanism

Domaines: Robotique [cs.RO]

Philippe Wenger, Clément Gosselin, Damien Chablat. A Comparative Study of Parallel Kinematic Architectures for Machining Applications. WCK, May 2001, Séoul, South Korea. pp.1-6. ⟨hal-00165167⟩