新型パラレル工作機械オルソグライドの運動学解析
Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide
直交配置した3本のリニアジョイントを持つパラレル機構工作機械オルソグライドを提案し、その運動学を解析した論文。直交座標ワークスペースと低慣性を両立し、高速加工や5軸化への拡張性を論じる。
著者: Philippe Wenger, Damien Chablat
分類: cs.RO
原文アブストラクト
This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The main interest of the orthoglide is that it takes benefit from the advantages of the popular PPP serial machines (regular Cartesian workspace shape and uniform performances) as well as from the parallel kinematic arrangement of the links (less inertia and better dynamic performances), which makes the orthoglide well suited to high-speed machining applications. Possible extension of the orthoglide to 5-axis machining is also investigated.
