区間解析に基づく3自由度パラレルキネマティックマシンの設計と比較
An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines
区間解析を用いて、3自由度パラレル機構のワークスペース形状とキネトスタティック性能の均一性を評価し、2種類の加工用機構を比較した研究。
著者: Damien Chablat, Philippe Wenger, Félix Majou, Jean-Pierre Merlet
分類: cs.RO
原文アブストラクト
This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace shape and, (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace. The interval analysis based method takes these two criteria into account: on the basis of prescribed kinetostatic performances, the workspace is analysed to find out the largest regular dextrous workspace enclosed in the Cartesian workspace. An algorithm describing this method is introduced. Two 3-DOF translational parallel mechanisms designed for machining applications are compared using this method. The first machine features three fixed linear joints which are mounted orthogonally and the second one features three linear joints which are mounted in parallel. In both cases, the mobile platform moves in the Cartesian x-y-z space with fixed orientation.
