等方性を考慮したハイブリッド形態の設計：3軸加工への応用
Conception Isotropique D'Une Morphologie Parall\`Ele : Application \`a L'Usinage
3軸加工機向けに、直列PPP機構とハイブリッド機構をヤコビ行列の条件数で比較し、最初の2軸を最適化して等方性を達成した研究。
著者: Damien Chablat, Philippe Wenger, Jorge Angeles
分類: cs.RO
原文アブストラクト
The aim of this paper is the isotropic design of a hybrid morphology dedicated to 3-axis machining applications. It is necessary to ensure the feasibility of continuous, singularity-free trajectories, as well as a good manipulability in position and velocity. We want to propose an alternative design to conventional serial machine-tools. We compare a serial PPP machine-tool (three prismatic orthogonal axes) with a hybrid architecture which we optimize only the first two axes. The critrerion used for the optimization is the conditioning of the Jacobian matrices. The optimum, namely isotropy, can be obtained which provides our architecture with excellent manipulability properties.
