Modelling and design issues of a 3-axis parallel machine-tool

Abstract This paper presents research works dedicated to a 3-axis PKM intended to be used as a drilling–taping machine-tool. The method selects a suitable parallel mechanism and a convenient general arrangement. Then it derives all the necessary models for design, including position, kinematics, statics, dynamics and simplified stiffness as well as accuracy evaluation models. Finally, those models prove their effectiveness through computation results and their application to a real machine.

[1]  G. R. Dunlop,et al.  Parallel topology robot calibration , 1997, Robotica.

[2]  Clément Gosselin,et al.  Singularity analysis of CaPaMan: A three-degree of freedom spatial parallel manipulator , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[3]  Jean-Pierre Merlet,et al.  Parallel Robots , 2000 .

[4]  Hiroaki Funabashi,et al.  High speed and high precision parallel mechanism , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[5]  R. Clavel,et al.  A Fast Robot with Parallel Geometry , 1988 .

[6]  Masaru Uchiyama,et al.  On the stiffness and stability of Gough-Stewart platforms , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[7]  Jorge Angeles,et al.  Singularity analysis of three-legged parallel robots based on passive-joint velocities , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[8]  Lung-Wen Tsai,et al.  Kinematics of A Three-Dof Platform with Three Extensible Limbs , 1996 .

[9]  Vincenzo Parenti-Castelli,et al.  Recent advances in robot kinematics , 1996 .