キネトスタティック基準と区間解析を用いた2種類の3自由度パラレルキネマティックマシンの比較研究
A Comparative Study between Two Three-DOF Parallel Kinematic Machines using Kinetostatic Criteria and Interval Analysis
加工用途向けの3自由度並進パラレル機構2種について、指定したキネトスタティック性能に基づき区間解析で作業空間と最大内接立方体を計算し比較した論文。
著者: Damien Chablat, Philippe Wenger, Jean-Pierre Merlet
分類: cs.RO
原文アブストラクト
This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of the first machine are orthogonal whereas these of the second are parallel. In both cases, the mobile platform moves in the Cartesian $x-y-z$ space with fixed orientation. The workspace analysis is conducted on the basis of prescribed kinetostatic performances. Interval analysis based methods are used to compute the dextrous workspace and the largest cube enclosed in this workspace.
