加工用途向け2自由度パラレルメカニズムの新しい設計手法
A Novel method for the design of 2-DOF Parallel mechanisms for machining applications
速度増幅率解析に基づき、加工用2自由度パラレル機構の設計手法を提案し、2種類の機構を比較してワークスペースと機構サイズの比を最適化した。
著者: Félix Majou, Philippe Wenger, Damien Chablat
分類: cs.RO
原文アブストラクト
Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative study of two simple two-degree-of-freedom PKM dedicated to machining applications is led through this method: the common desired properties are the largest square Cartesian workspace for given kinetostatic performances. The orientation and position of the Cartesian workspace are chosen to avoid singularities and to produce the best ratio between Cartesian workspace size and mechanism size. The machine size of each resulting design is used as a comparative criterion.
