Motion pattern analysis of parallel kinematic machines: A case study

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dc.contributor.authorAltuzarra, Oscar
dc.contributor.authorMartín, Yon San
dc.contributor.authorAmezua, Enrique
dc.contributor.authorHernández, Alfonso
dc.contributor.institutionCentros PRE-FUSION TECNALIA - (FORMER)
dc.date.accessioned2024-07-24T12:07:23Z
dc.date.available2024-07-24T12:07:23Z
dc.date.issued2009-04
dc.description.abstractThis 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.sponsorshipThe 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.statusPeer reviewed
dc.format.extent9
dc.identifier.citationAltuzarra , 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.doi10.1016/j.rcim.2008.01.007
dc.identifier.issn0736-5845
dc.identifier.urihttps://hdl.handle.net/11556/3761
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=64149093018&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofRobotics and Computer-Integrated Manufacturing
dc.relation.projectIDEuropean Commission, EC
dc.relation.projectIDEuskal Herriko Unibertsitatea, EHU, 9/UPV00145.345-14494/2002
dc.relation.projectIDMinisterio de Ciencia y Tecnología, MICYT, DPI2005-02207
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsCo-operation
dc.subject.keywordsMotion pattern
dc.subject.keywordsParallel manipulators
dc.subject.keywordsRelative motion
dc.subject.keywordsRotary table
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsSoftware
dc.subject.keywordsGeneral Mathematics
dc.subject.keywordsComputer Science Applications
dc.subject.keywordsIndustrial and Manufacturing Engineering
dc.subject.keywordsSDG 7 - Affordable and Clean Energy
dc.subject.keywordsSDG 9 - Industry, Innovation, and Infrastructure
dc.titleMotion pattern analysis of parallel kinematic machines: A case studyen
dc.typejournal article
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