Motion pattern analysis of parallel kinematic machines: A case study
dc.contributor.author | Altuzarra, Oscar | |
dc.contributor.author | Martín, Yon San | |
dc.contributor.author | Amezua, Enrique | |
dc.contributor.author | Hernández, Alfonso | |
dc.contributor.institution | Centros PRE-FUSION TECNALIA - (FORMER) | |
dc.date.accessioned | 2024-07-24T12:07:23Z | |
dc.date.available | 2024-07-24T12:07:23Z | |
dc.date.issued | 2009-04 | |
dc.description.abstract | This paper looks at the "five-axis machines" for machining operations. These machines have five (or six at maximum) degrees of freedom (dof). The output motion must have at least three translational and two rotational dof. This output motion pattern can be obtained with different structural topologies: serial, parallel, hybrid and with serial and/or parallel manipulators working in co-operation. The latter allows higher motion ranges in rotational and translational dof. Moreover, it provides a good stiffness, a highly valued requisite in applications like machining. Manipulators of this type are characterized by their kinematics to be integrated in the CNC, which requires the study of the relative motion between their modules. This motion is usually complex, and in certain cases presents kinematic relations not evident. This work presents a methodology to solve the motion pattern out of the direct and inverse kinematics of the relative motion between the modules of which the manipulator is composed. On the one hand, the spindle is mounted on a parallel module. On the other hand, the working table is mounted on a serial module. This methodology was applied to the Hermes parallel manipulator in combination with rotary and linear tables. As a result, a series of considerations regarding other possible combinations between modules was made and a new machine is proposed. | en |
dc.description.sponsorship | The authors of this article wish to acknowledge the financial assistance of the Spanish Government via the Ministry of Science and Technology (Project DPI2005-02207), the Feder funds of the European Union and the University of the Basque Country (Project 9/UPV00145.345-14494/2002). | |
dc.description.status | Peer reviewed | |
dc.format.extent | 9 | |
dc.identifier.citation | Altuzarra , O , Martín , Y S , Amezua , E & Hernández , A 2009 , ' Motion pattern analysis of parallel kinematic machines : A case study ' , Robotics and Computer-Integrated Manufacturing , vol. 25 , no. 2 , pp. 432-440 . https://doi.org/10.1016/j.rcim.2008.01.007 | |
dc.identifier.doi | 10.1016/j.rcim.2008.01.007 | |
dc.identifier.issn | 0736-5845 | |
dc.identifier.uri | https://hdl.handle.net/11556/3761 | |
dc.identifier.url | http://www.scopus.com/inward/record.url?scp=64149093018&partnerID=8YFLogxK | |
dc.language.iso | eng | |
dc.relation.ispartof | Robotics and Computer-Integrated Manufacturing | |
dc.relation.projectID | European Commission, EC | |
dc.relation.projectID | Euskal Herriko Unibertsitatea, EHU, 9/UPV00145.345-14494/2002 | |
dc.relation.projectID | Ministerio de Ciencia y Tecnología, MICYT, DPI2005-02207 | |
dc.rights | info:eu-repo/semantics/restrictedAccess | |
dc.subject.keywords | Co-operation | |
dc.subject.keywords | Motion pattern | |
dc.subject.keywords | Parallel manipulators | |
dc.subject.keywords | Relative motion | |
dc.subject.keywords | Rotary table | |
dc.subject.keywords | Control and Systems Engineering | |
dc.subject.keywords | Software | |
dc.subject.keywords | General Mathematics | |
dc.subject.keywords | Computer Science Applications | |
dc.subject.keywords | Industrial and Manufacturing Engineering | |
dc.subject.keywords | SDG 7 - Affordable and Clean Energy | |
dc.subject.keywords | SDG 9 - Industry, Innovation, and Infrastructure | |
dc.title | Motion pattern analysis of parallel kinematic machines: A case study | en |
dc.type | journal article |