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| HAL : hal-00166631, version 1 |
| arXiv : 0708.1049 |
| Fiche détaillée |  Récupérer au format |
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| International Journal of Robotics Research 23, 6 (2004) 615-624 |
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| An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines |
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| Damien Chablat 1Philippe Wenger 1 |
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| Projet ROBEA MPP Collaboration(s) |
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| (06/2004) |
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| This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace shape and, (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace. The interval analysis based method takes these two criteria into account: on the basis of prescribed kinetostatic performances, the workspace is analysed to find out the largest regular dextrous workspace enclosed in the Cartesian workspace. An algorithm describing this method is introduced. Two 3-DOF translational parallel mechanisms designed for machining applications are compared using this method. The first machine features three fixed linear joints which are mounted orthogonally and the second one features three linear joints which are mounted in parallel. In both cases, the mobile platform moves in the Cartesian x-y-z space with fixed orientation. |
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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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| 2 : | COPRIN (INRIA Sophia Antipolis) |
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INRIA – Ecole des Ponts ParisTech |
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| Méthode de conception en mécanique |
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| Domaine | : | Informatique/Robotique |
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| Parallel kinematic machine – Design – Interval analysis – Comparison – Workspace – Transmission factors – Orthoglide |
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| Liste des fichiers attachés à ce document : | ||||||||||
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| hal-00166631, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00166631 | |
| oai:hal.archives-ouvertes.fr:hal-00166631 | |
| Contributeur : Damien Chablat | |
| Soumis le : Mardi 7 Août 2007, 23:24:28 | |
| Dernière modification le : Mercredi 8 Août 2007, 09:06:57 | |
