加工用途向けパラレルキネマティクス機構の比較研究
A Comparative Study of Parallel Kinematic Architectures for Machining Applications
加工用途向けの3種類の2自由度パラレル機構を、同一の作業空間と運動静特性の条件下で比較し、機械サイズを基準に評価した研究。
著者: Philippe Wenger, Clément Gosselin, Damien Chablat
分類: cs.RO
原文アブストラクト
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant length struts gliding along fixed linear actuated joints with different relative orientation. The comparative study is conducted on the basis of a same prescribed Cartesian workspace for the three mechanisms. The common desired workspace properties are a rectangular shape and given kinetostatic performances. The machine size of each resulting design is used as a comparative criterion. The 2-DOF machine mechanisms analyzed in this paper can be extended to 3-axis machines by adding a third joint.
