Workspace Analysis of the Parallel Module of the VERNE Machine

Daniel Kanaan (1) , Philippe Wenger (1) , Damien Chablat (1)

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

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.

Mots clés: singularity; Parallel manipulators; parallel kinematic machines; workspace; hybrid machine tools; complex motion; mobility analysis; inverse kinematics; singularity.

Domaines: Robotique [cs.RO]; Génie mécanique [physics.class-ph]

Daniel Kanaan, Philippe Wenger, Damien Chablat. Workspace Analysis of the Parallel Module of the VERNE Machine. Problems of Mechanics, 2006, 25 (4), pp.26-42. ⟨hal-00160062⟩